sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718: payload batch 1/1

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/C6A_REVIEW.md

@@ -0,0 +1,32 @@
+# session_20260921_231046_597606: C6a proposal review
+
+**Status: agent proposal; owner mask/window/contact decisions pending.**
+
+Object: taped round belt. Motion: two-handed grasp minor axis without lifting, compress and stretch cycles.
+Current packet anchor converted frames: **311–718 inclusive**.
+Current packet endpoint sync timestamps: `1790046681079461682` / `1790046694690659577` ns.
+Participating identities: `hand_A+hand_B`; 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_231046_597606/window_proposal_c1/proposal.json`.
+
+## Exact own-camera mapping
+
+| Camera | Window-local t | Converted frames | Native container frames | First / last capture timestamp ns |
+|---|---|---|---|---|
+| 12540311 | 0–407 | 311–718 | 312–719 | 1790046681079461682 / 1790046694690659577 |
+| 12933256 | 0–407 | 310–717 | 311–718 | 1790046681071885999 / 1790046694679206934 |
+| 17736741 | 0–407 | 312–719 | 313–720 | 1790046681085143454 / 1790046694698700321 |
+| 23007103 | 0–407 | 311–718 | 312–719 | 1790046681076271541 / 1790046694688884357 |
+
+## 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, 12933256, 17736741, 23007103: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/review_media_c6a_recovery2/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/review_media_c6a_recovery2/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/review_media_c6a_recovery2/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/review_media_c6a_recovery2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/review_media_c6a_recovery2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/review_media_c6a_recovery2/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_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 311,
+    "official_frame_index": 311,
+    "native_container_frame_index": 312,
+    "view_time_ns": 1790046681079461682
+  },
+  "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": [
+    [
+      679.0,
+      938.0
+    ],
+    [
+      852.0,
+      894.0
+    ],
+    [
+      918.0,
+      939.0
+    ],
+    [
+      805.0,
+      901.0
+    ],
+    [
+      576.0,
+      966.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    632.0,
+    839.0,
+    968.0,
+    1003.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical right bracelet hand: bare forearm through fingertips; exclude silver bracelet and black sleeve. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "2d50813494aeee46f13e35b0b84affd02d44f1d19128c4210e2e124ab770f3d7",
+  "seed_mask_pixels": 30337,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:38Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d50813494aeee46f13e35b0b84affd02d44f1d19128c4210e2e124ab770f3d7
+size 2005

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 311,
+    "official_frame_index": 311,
+    "native_container_frame_index": 312,
+    "view_time_ns": 1790046681079461682
+  },
+  "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": [
+    [
+      603.0,
+      581.0
+    ],
+    [
+      803.0,
+      590.0
+    ],
+    [
+      841.0,
+      648.0
+    ],
+    [
+      511.0,
+      574.0
+    ],
+    [
+      895.0,
+      665.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    564.0,
+    536.0,
+    879.0,
+    681.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical left hand and bare forearm; exclude sleeve and orange cord. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "a7c4e0141d2ecda7b992de8069059b50ada35d0e30d14f553725357b018cd216",
+  "seed_mask_pixels": 22169,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:38Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_B/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7c4e0141d2ecda7b992de8069059b50ada35d0e30d14f553725357b018cd216
+size 1722

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 311,
+    "official_frame_index": 311,
+    "native_container_frame_index": 312,
+    "view_time_ns": 1790046681079461682
+  },
+  "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": [
+    [
+      894.0,
+      664.0
+    ],
+    [
+      1039.0,
+      775.0
+    ],
+    [
+      939.0,
+      874.0
+    ],
+    [
+      740.0,
+      768.0
+    ],
+    [
+      886.0,
+      768.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    0
+  ],
+  "box_uv": [
+    729.0,
+    655.0,
+    1051.0,
+    887.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Visible orange cord only; exclude loop interior and grasping fingers. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "fa41bfa7f5b2d13bc739762897593dc6eabd0c515ea885228d61c5d46e90bf63",
+  "seed_mask_pixels": 8624,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:38Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa41bfa7f5b2d13bc739762897593dc6eabd0c515ea885228d61c5d46e90bf63
+size 2240

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 311,
+    "official_frame_index": 311,
+    "native_container_frame_index": 312,
+    "view_time_ns": 1790046681079461682
+  },
+  "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": [
+    [
+      127.0,
+      205.0
+    ],
+    [
+      801.0,
+      609.0
+    ],
+    [
+      281.0,
+      1001.0
+    ],
+    [
+      869.0,
+      915.0
+    ],
+    [
+      805.0,
+      901.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    1
+  ],
+  "box_uv": [
+    0.0,
+    0.0,
+    970.0,
+    1079.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Whole visible human including cap/head at upper-left, both sleeves, forearms, hands and bracelet. Exclude robot, table and orange cord. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "89537d5763890e77be7a7dd8b92d319503af5313804d641ec0becf108eab04ef",
+  "seed_mask_pixels": 375497,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:38Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89537d5763890e77be7a7dd8b92d319503af5313804d641ec0becf108eab04ef
+size 5550

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12933256/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 310,
+    "official_frame_index": 310,
+    "native_container_frame_index": 311,
+    "view_time_ns": 1790046681071885999
+  },
+  "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": [
+    [
+      1191.0,
+      431.0
+    ],
+    [
+      1092.0,
+      457.0
+    ],
+    [
+      1044.0,
+      492.0
+    ],
+    [
+      1135.0,
+      455.0
+    ],
+    [
+      1323.0,
+      387.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    1013.0,
+    379.0,
+    1301.0,
+    516.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical right bracelet hand: hand and bare forearm; exclude bracelet and black cuff. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "1785082d434fa5dac260cd1ece5c01274a58a8ebe39e53e83c2b33ac3c47a2c2",
+  "seed_mask_pixels": 14409,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:42Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1785082d434fa5dac260cd1ece5c01274a58a8ebe39e53e83c2b33ac3c47a2c2
+size 1748

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12933256/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 310,
+    "official_frame_index": 310,
+    "native_container_frame_index": 311,
+    "view_time_ns": 1790046681071885999
+  },
+  "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": [
+    [
+      1026.0,
+      580.0
+    ],
+    [
+      884.0,
+      609.0
+    ],
+    [
+      837.0,
+      688.0
+    ],
+    [
+      1136.0,
+      581.0
+    ],
+    [
+      1009.0,
+      627.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    802.0,
+    527.0,
+    1095.0,
+    715.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical left hand with bare forearm; include visible separated fingers, exclude sleeve and orange cord. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "8bd6439faf72a5e5287499c6da56238aac9697c07f020ef825bb3b8e5f07a739",
+  "seed_mask_pixels": 24040,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:42Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12933256/hand_B/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bd6439faf72a5e5287499c6da56238aac9697c07f020ef825bb3b8e5f07a739
+size 1808

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12933256/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 310,
+    "official_frame_index": 310,
+    "native_container_frame_index": 311,
+    "view_time_ns": 1790046681071885999
+  },
+  "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": [
+    [
+      941.0,
+      506.0
+    ],
+    [
+      829.0,
+      567.0
+    ],
+    [
+      1007.0,
+      627.0
+    ],
+    [
+      1045.0,
+      520.0
+    ],
+    [
+      950.0,
+      531.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    0
+  ],
+  "box_uv": [
+    819.0,
+    497.0,
+    1078.0,
+    642.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Visible orange cord only; the foreground left hand occludes much of lower/right arc. Exclude interior and skin. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "c958699aa8cc7ffdf74da33072e5822c1f4d914f7429930d53e281be5cc9e6b8",
+  "seed_mask_pixels": 4124,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:42Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12933256/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c958699aa8cc7ffdf74da33072e5822c1f4d914f7429930d53e281be5cc9e6b8
+size 1440

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12933256/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "12933256",
+  "view_index": 1,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 310,
+    "official_frame_index": 310,
+    "native_container_frame_index": 311,
+    "view_time_ns": 1790046681071885999
+  },
+  "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": [
+    [
+      1583.0,
+      38.0
+    ],
+    [
+      1788.0,
+      182.0
+    ],
+    [
+      1088.0,
+      459.0
+    ],
+    [
+      880.0,
+      622.0
+    ],
+    [
+      1135.0,
+      455.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    1
+  ],
+  "box_uv": [
+    799.0,
+    0.0,
+    1919.0,
+    718.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Whole visible human including partial lower face/chin at upper edge, torso, both arms and hands plus bracelet. Exclude white robot and table. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "b9cf2b55904f7e30f483f8bfa18ca1c96cdf961e7a2ade3196bbc4532ed70829",
+  "seed_mask_pixels": 319334,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:42Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12933256/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9cf2b55904f7e30f483f8bfa18ca1c96cdf961e7a2ade3196bbc4532ed70829
+size 4987

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/17736741/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 312,
+    "official_frame_index": 312,
+    "native_container_frame_index": 313,
+    "view_time_ns": 1790046681085143454
+  },
+  "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": [
+    [
+      664.0,
+      718.0
+    ],
+    [
+      850.0,
+      774.0
+    ],
+    [
+      916.0,
+      845.0
+    ],
+    [
+      807.0,
+      749.0
+    ],
+    [
+      556.0,
+      699.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    609.0,
+    660.0,
+    995.0,
+    904.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical right bracelet hand: bare forearm and hand; bracelet and sleeve excluded. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "f773a01d381e5bff60110149b3b329608e2be77a0a4cc4ab0fbdc2f935a39333",
+  "seed_mask_pixels": 33494,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:46Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f773a01d381e5bff60110149b3b329608e2be77a0a4cc4ab0fbdc2f935a39333
+size 2405

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/17736741/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 312,
+    "official_frame_index": 312,
+    "native_container_frame_index": 313,
+    "view_time_ns": 1790046681085143454
+  },
+  "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": [
+    [
+      829.0,
+      433.0
+    ],
+    [
+      1029.0,
+      522.0
+    ],
+    [
+      1073.0,
+      597.0
+    ],
+    [
+      739.0,
+      393.0
+    ],
+    [
+      1011.0,
+      605.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    779.0,
+    381.0,
+    1138.0,
+    609.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical left bare forearm and hand, through fingertips; exclude sleeve and orange cord. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "e09929af4a636ebfc1f3fee3ef91877645803e79b41ca849cd6edf03c0aa811d",
+  "seed_mask_pixels": 26121,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:46Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/17736741/hand_B/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e09929af4a636ebfc1f3fee3ef91877645803e79b41ca849cd6edf03c0aa811d
+size 2282

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/17736741/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 312,
+    "official_frame_index": 312,
+    "native_container_frame_index": 313,
+    "view_time_ns": 1790046681085143454
+  },
+  "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": [
+    [
+      1010.0,
+      604.0
+    ],
+    [
+      1185.0,
+      697.0
+    ],
+    [
+      1057.0,
+      823.0
+    ],
+    [
+      886.0,
+      696.0
+    ],
+    [
+      1042.0,
+      712.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    0
+  ],
+  "box_uv": [
+    876.0,
+    596.0,
+    1205.0,
+    834.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Visible orange loop only; hands occlude upper and lower-left sections. Exclude interior and skin. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "d02ad6bfe4697f8ec74fd18da2cc1d2e5f5e46508b2f698453f708ab064f4843",
+  "seed_mask_pixels": 9452,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:46Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/17736741/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d02ad6bfe4697f8ec74fd18da2cc1d2e5f5e46508b2f698453f708ab064f4843
+size 2242

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/17736741/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 312,
+    "official_frame_index": 312,
+    "native_container_frame_index": 313,
+    "view_time_ns": 1790046681085143454
+  },
+  "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": [
+    [
+      167.0,
+      79.0
+    ],
+    [
+      124.0,
+      419.0
+    ],
+    [
+      1052.0,
+      544.0
+    ],
+    [
+      881.0,
+      808.0
+    ],
+    [
+      807.0,
+      749.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    1
+  ],
+  "box_uv": [
+    0.0,
+    0.0,
+    1141.0,
+    907.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Whole human including cap, visible head/ear/face, torso, both sleeves and both bare forearms/hands, plus bracelet. Exclude robot and table. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "4db9bedf3561684f41d3516ac0970965d4575d7f8cf8ea228dee28fce2380ecd",
+  "seed_mask_pixels": 390007,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:47Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/17736741/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4db9bedf3561684f41d3516ac0970965d4575d7f8cf8ea228dee28fce2380ecd
+size 7644

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/23007103/hand_A/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "hand_A",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 311,
+    "official_frame_index": 311,
+    "native_container_frame_index": 312,
+    "view_time_ns": 1790046681076271541
+  },
+  "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": [
+    [
+      1060.0,
+      344.0
+    ],
+    [
+      987.0,
+      412.0
+    ],
+    [
+      926.0,
+      468.0
+    ],
+    [
+      1024.0,
+      382.0
+    ],
+    [
+      1120.0,
+      279.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    896.0,
+    297.0,
+    1118.0,
+    489.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical right bracelet hand on image left: bare forearm and pinching hand; bracelet and black sleeve excluded. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "79fae46e140efd21aad7c18ef16a53cf46bf7ca98db308b22ad806bbe3d34533",
+  "seed_mask_pixels": 12366,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:51Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/23007103/hand_A/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79fae46e140efd21aad7c18ef16a53cf46bf7ca98db308b22ad806bbe3d34533
+size 1869

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/23007103/hand_B/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "hand_B",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 311,
+    "official_frame_index": 311,
+    "native_container_frame_index": 312,
+    "view_time_ns": 1790046681076271541
+  },
+  "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": [
+    [
+      1266.0,
+      422.0
+    ],
+    [
+      1162.0,
+      519.0
+    ],
+    [
+      1114.0,
+      613.0
+    ],
+    [
+      1344.0,
+      383.0
+    ],
+    [
+      997.0,
+      589.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    0
+  ],
+  "box_uv": [
+    1058.0,
+    381.0,
+    1318.0,
+    639.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Physical left hand on image right: bare forearm through visible separated fingertips; exclude black sleeve and orange cord. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "26f0f59c0e5ca6a5325b6b01d7a10e309145b1670f23eb50a833bdf56fbf872b",
+  "seed_mask_pixels": 22798,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:51Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/23007103/hand_B/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f0f59c0e5ca6a5325b6b01d7a10e309145b1670f23eb50a833bdf56fbf872b
+size 2100

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/23007103/object/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "object",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 311,
+    "official_frame_index": 311,
+    "native_container_frame_index": 312,
+    "view_time_ns": 1790046681076271541
+  },
+  "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": [
+    [
+      996.0,
+      475.0
+    ],
+    [
+      886.0,
+      524.0
+    ],
+    [
+      988.0,
+      589.0
+    ],
+    [
+      1071.0,
+      576.0
+    ],
+    [
+      999.0,
+      531.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    1,
+    0
+  ],
+  "box_uv": [
+    872.0,
+    466.0,
+    1111.0,
+    599.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Visible orange loop only; left hand hides right arc, exclude interior and fingers. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "82b5e49477f71b5b4f580ad958ea50c26b4d74f59ebab788c103df62e9265399",
+  "seed_mask_pixels": 4880,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:51Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/23007103/object/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82b5e49477f71b5b4f580ad958ea50c26b4d74f59ebab788c103df62e9265399
+size 1623

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/23007103/occluder/t0000_v01.json

@@ -0,0 +1,105 @@
+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_231046_597606",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      310,
+      718
+    ],
+    "anchor_time_ns_first_last": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "serial": "23007103",
+  "view_index": 3,
+  "instance": "occluder",
+  "frame": {
+    "t": 0,
+    "sync_index": 310,
+    "converted_frame_index": 311,
+    "official_frame_index": 311,
+    "native_container_frame_index": 312,
+    "view_time_ns": 1790046681076271541
+  },
+  "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": [
+    [
+      1405.0,
+      31.0
+    ],
+    [
+      1489.0,
+      316.0
+    ],
+    [
+      1155.0,
+      531.0
+    ],
+    [
+      995.0,
+      531.0
+    ],
+    [
+      1024.0,
+      382.0
+    ]
+  ],
+  "labels": [
+    1,
+    1,
+    1,
+    0,
+    1
+  ],
+  "box_uv": [
+    894.0,
+    0.0,
+    1651.0,
+    641.0
+  ],
+  "source": "agent:c6a_20261027",
+  "note": "Whole visible human including partial head/face at upper edge, torso, both arms and hands, and bracelet. Exclude robot, table and orange cord. Sparse owner-directed SAM2 prompt: at most five positive plus negative points total; box unchanged. Occluder includes body, clothing and accessories; hand masks exclude bracelets and sleeves.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "1260364f89ba02d253f8a15ef3eeae2bf575eb6818a5c7a0bc9dc7e74d3f68bc",
+  "seed_mask_pixels": 183042,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_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": "2026-10-27T23:26:51Z"
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/23007103/occluder/t0000_v01_seed_mask.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1260364f89ba02d253f8a15ef3eeae2bf575eb6818a5c7a0bc9dc7e74d3f68bc
+size 5395

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/inspect.log

@@ -0,0 +1 @@
+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/inspection/inspection.json

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/inspect_command.json

@@ -0,0 +1,15 @@
+[
+  "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3",
+  "scripts/phystwin_real_rgbd.py",
+  "inspect",
+  "--session",
+  "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_231046_597606",
+  "--window",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/phystwin_window.yaml",
+  "--frame-association",
+  "per_camera_native_range",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/inspection",
+  "--sample-t",
+  "0"
+]

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/inspection/frames.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d233b5cf5e6c5896e821e3a9d4aa0c07ad086a54f801a7c67b6706451fba5509
+size 100232

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/inspection/inspection.json

@@ -0,0 +1,345 @@
+{
+  "frame_count": 408,
+  "transition_count": 407,
+  "sync_index_half_open": [
+    310,
+    718
+  ],
+  "anchor_time_ns_first_last": [
+    1790046681079461682,
+    1790046694690659577
+  ],
+  "anchor_span_s": 13.611197895,
+  "anchor_interval_ms": {
+    "min": 28.784739,
+    "median": 33.464385,
+    "max": 39.209143
+  },
+  "anchor_view": 0,
+  "world_frame": "table",
+  "physics_frame": "table",
+  "physics_T_world": [
+    [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+    ],
+    [
+      0.0,
+      1.0,
+      0.0,
+      0.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0,
+      0.0
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "views": [
+    {
+      "serial": "12540311",
+      "rgb_stream_id": "zed_12540311_left_rgb",
+      "depth_stream_id": "zed_12540311_depth_zed_sdk_neural_plus",
+      "converted_frame_index_half_open": [
+        311,
+        719
+      ],
+      "distinct_frames": 408,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 408,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": 0.0,
+        "median": 0.0,
+        "max": 0.0
+      },
+      "image_hw": [
+        1080,
+        1920
+      ],
+      "K_fx_fy_cx_cy": [
+        1505.6656494140625,
+        1505.6656494140625,
+        975.812255859375,
+        520.2508544921875
+      ],
+      "world_T_camera_translation_m": [
+        0.37861749362037694,
+        0.35865096273259595,
+        0.9747715436172444
+      ],
+      "depth_unit_m": 0.001,
+      "depth_saturated_raw": 8191
+    },
+    {
+      "serial": "12933256",
+      "rgb_stream_id": "zed_12933256_left_rgb",
+      "depth_stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+      "converted_frame_index_half_open": [
+        310,
+        718
+      ],
+      "distinct_frames": 408,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 408,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": -16.059962,
+        "median": -11.1180905,
+        "max": -4.753799
+      },
+      "image_hw": [
+        1080,
+        1920
+      ],
+      "K_fx_fy_cx_cy": [
+        1485.2139892578125,
+        1485.2139892578125,
+        1016.4954833984375,
+        529.3929443359375
+      ],
+      "world_T_camera_translation_m": [
+        0.6950866726146973,
+        -0.8347046984835544,
+        0.5782811473286448
+      ],
+      "depth_unit_m": 0.001,
+      "depth_saturated_raw": 8191
+    },
+    {
+      "serial": "17736741",
+      "rgb_stream_id": "zed_17736741_left_rgb",
+      "depth_stream_id": "zed_17736741_depth_zed_sdk_neural_plus",
+      "converted_frame_index_half_open": [
+        312,
+        720
+      ],
+      "distinct_frames": 408,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 408,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": 3.921884,
+        "median": 8.4481555,
+        "max": 10.443194
+      },
+      "image_hw": [
+        1080,
+        1920
+      ],
+      "K_fx_fy_cx_cy": [
+        1509.0557861328125,
+        1509.0557861328125,
+        954.302001953125,
+        518.1390991210938
+      ],
+      "world_T_camera_translation_m": [
+        -0.33081317530788323,
+        0.3636141220708792,
+        0.9671273536451334
+      ],
+      "depth_unit_m": 0.001,
+      "depth_saturated_raw": 8191
+    },
+    {
+      "serial": "23007103",
+      "rgb_stream_id": "zed_23007103_left_rgb",
+      "depth_stream_id": "zed_23007103_depth_zed_sdk_neural_plus",
+      "converted_frame_index_half_open": [
+        311,
+        719
+      ],
+      "distinct_frames": 408,
+      "repeated_steps": 0,
+      "skipping_steps": 0,
+      "valid_frames": 408,
+      "rgb_depth_index_equal": true,
+      "offset_from_anchor_ms": {
+        "min": -6.232225,
+        "median": -1.99852,
+        "max": 1.760621
+      },
+      "image_hw": [
+        1080,
+        1920
+      ],
+      "K_fx_fy_cx_cy": [
+        1054.3765869140625,
+        1054.3765869140625,
+        969.4027099609375,
+        516.3900146484375
+      ],
+      "world_T_camera_translation_m": [
+        -0.5916520560802326,
+        -0.6322488212026725,
+        0.5168520851731121
+      ],
+      "depth_unit_m": 0.001,
+      "depth_saturated_raw": 8191
+    }
+  ],
+  "lineage": {
+    "session_id": "session_20260921_231046_597606",
+    "session_path": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_231046_597606",
+    "window_path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/phystwin_window.yaml",
+    "window_sha256": "dfd2cd031885ddb10e55e9b408e1de0099591938449bc15870bd8ddb3493b2db",
+    "window_resolved": {
+      "duration_s": 13.611198,
+      "end_anchor_timestamp_ns": 1790046694690659577,
+      "end_sync_index_exclusive": 718,
+      "frame_count": 408,
+      "start_anchor_timestamp_ns": 1790046681079461682,
+      "start_sync_index": 310
+    },
+    "manual_annotation_ns": [
+      1790046681079461682,
+      1790046694690659577
+    ],
+    "anchor_stream_id": "zed_12540311_left_rgb",
+    "sync_clock": "sync_time_ns (host_unix_time_ns)",
+    "device_clock": "device_time_ns",
+    "frame_association": "per view: consecutive recorded frames over the sidecar's per-camera native range; depth nearest to each RGB time, ties to the earlier frame, no tolerance",
+    "intrinsics_source": "metadata/calibration.json camera_intrinsics at the recorded stream size",
+    "calibration": {
+      "package_dir": "metadata/calibration_package",
+      "world_frame": "table",
+      "pose_source": "phase_05_final",
+      "final_transform_source": "combined_fixed_movable_ba",
+      "source_run_name": "20260921_200440",
+      "candidate_pose_set_name": "fixed020_movable1",
+      "world_T_camera_bundle": "world_T_camera_by_serial.npz",
+      "world_T_camera_bundle_sha256": "2bcc404a8e3c4315527d0573dfdecaac7feec797a2b8cb5b581fbe9f94fbf8d5"
+    },
+    "frame_association_mode": "per_camera_native_range"
+  },
+  "samples": [
+    {
+      "t": 0,
+      "serial": "12540311",
+      "converted_frame_index": 311,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 5302
+      },
+      "depth_zero_fraction": 0.03524016203703704,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.41600000000000004,
+        1.243,
+        5.3020000000000005
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "12933256",
+      "converted_frame_index": 310,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 6878
+      },
+      "depth_zero_fraction": 0.03346836419753087,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.491,
+        1.118,
+        6.878
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "17736741",
+      "converted_frame_index": 312,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 3919
+      },
+      "depth_zero_fraction": 0.02033082561728395,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.581,
+        1.111,
+        3.919
+      ]
+    },
+    {
+      "t": 0,
+      "serial": "23007103",
+      "converted_frame_index": 311,
+      "rgb": {
+        "dtype": "uint8",
+        "shape": [
+          1080,
+          1920,
+          3
+        ]
+      },
+      "depth_raw": {
+        "dtype": "uint16",
+        "shape": [
+          1080,
+          1920
+        ],
+        "min": 0,
+        "max": 4749
+      },
+      "depth_zero_fraction": 0.04040509259259259,
+      "depth_saturated_count": 0,
+      "depth_valid_m_min_median_max": [
+        0.48,
+        1.025,
+        4.749
+      ]
+    }
+  ]
+}

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/12540311/hand_A/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84020d22a518678d881a9d7cfa6dd651d998c4c7e9bdd3e46b78a9dd8fb28a10
+size 554058

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/12540311/hand_B/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f8946d6191cc5672c3302bf2ec14550cdcf1b357797a448dcbbaedd50e00df6
+size 407723

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/12540311/object/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f726ad764cdf3170678d39154616b4c0d76118e6dd38b6880f8dc616826355f
+size 567588

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/12540311/occluder/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed61369c7621ebf3ba49edc0d7de0c4d8dc9010e7a363a4e0dbbdc4d830b2da5
+size 1692401

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/12933256/hand_A/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9108eb26941b98f518bde99c9fc5e344e0e86939df8abddcca5234172ea1eb85
+size 341854

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/12933256/hand_B/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e68259a68c45246ee9ee3e23540145e8537d27d15970f261ce9fc4ee7e8a7d8
+size 407240

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/12933256/object/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6902279789fd89a4995730bb444d80291190d398d94a15d520a8f93be2e4e1dd
+size 338894

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/12933256/occluder/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b6f6bb0906b1e60a34a37d77997978c9dd9ccfc0354867b31aee6b7406b4692
+size 1739356

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/17736741/hand_A/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccd800051e9fdad2ac157052d6eea0d896844d0fdc84170855c0440279eac597
+size 580683

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/17736741/hand_B/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0c4d49cc5c486990922d7e45f69b996ea5c0682870625c025868269e77b1b94
+size 597639

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/17736741/object/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e251abfc0247b2a26798ca52165b93ac3c24567f14408368b5d638b24a24c7e
+size 596993

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/17736741/occluder/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be16b9d057ac050e0ab91bc8db1c78ff2ed2dd28907cf6b86eba632b1c6a7058
+size 2609538

sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/23007103/hand_A/run0001_t0000-0408.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8af8f7de0286e4b233b3d48112d9facff4b7b2acf37169ddcdf9fc4f00bd881
+size 430662