diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/C6A_REVIEW.md b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/C6A_REVIEW.md new file mode 100644 index 0000000000000000000000000000000000000000..80855fee1dd114b5f69a9572bc5835cb4584006c --- /dev/null +++ b/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. diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_A/t0000_v01.json b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_A/t0000_v01.json new file mode 100644 index 0000000000000000000000000000000000000000..a80c8b66c5d092ed079a3192b0f4446395545273 --- /dev/null +++ b/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" +} diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..4c0d792098df7864c128790eeae9ab68fa712ea5 --- /dev/null +++ b/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 diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_B/t0000_v01.json b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_B/t0000_v01.json new file mode 100644 index 0000000000000000000000000000000000000000..ed6246f63492d521cd14919c784a53070c5b2981 --- /dev/null +++ b/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" +} diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_B/t0000_v01_seed_mask.npz b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/hand_B/t0000_v01_seed_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..d71f5c5f27641f579a2b878e25e21372e4d1ef86 --- /dev/null +++ b/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 diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/object/t0000_v01.json b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/object/t0000_v01.json new file mode 100644 index 0000000000000000000000000000000000000000..27c09fc8bd61bff2a92abfa25ad3b3d5815b22f8 --- /dev/null +++ b/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" +} diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz new file mode 100644 index 0000000000000000000000000000000000000000..a4879bc7c562af9b7a9e7e675b9513a8be168af5 --- /dev/null +++ b/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 diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/occluder/t0000_v01.json b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/annotations/prompts/12540311/occluder/t0000_v01.json new file mode 100644 index 0000000000000000000000000000000000000000..9c26aabd9a8f16c8e8ea9a77e323819847f19ae2 --- /dev/null +++ b/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. 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b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/23007103/occluder/run0001_t0000-0408.npz new file mode 100644 index 0000000000000000000000000000000000000000..d1f7f86dc339902bf2a4b3e3283521e1edbebedd --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/masks/23007103/occluder/run0001_t0000-0408.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:336391d30e2d250b6ff122242ccb96bc80a49620af9e01dda21f6ac0991f7fc7 +size 1823227 diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/phystwin_window.yaml b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/phystwin_window.yaml new file mode 100644 index 0000000000000000000000000000000000000000..15f7944a8c305366de5ed5fd3664afb0711629e8 --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/phystwin_window.yaml @@ -0,0 +1,87 @@ +schema_version: 1 +kind: phystwin_interaction_window +session: + path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_231046_597606 + session_id: session_20260921_231046_597606 +annotation_interface: + method: rerun + rerun_timeline: sync_time_ns + rerun_launch_command: uv run --no-sync python -m dataset_converter.visualize_rerun + --session-path /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_231046_597606 + --sensor-types zed + timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the + current integer-nanosecond timestamp at the desired start/end moments. + notes: '' +timebase: + policy: native_anchor_overlap + sync_policy: AnchorStreamSyncPolicy + overlap: true + anchor_serial: '12540311' + anchor_stream_id: zed_12540311_left_rgb + timestamp_unit: ns + timestamp_reference: sync_time_ns + period_ns_estimate: 33445615 + fps_estimate: 29.899286 +manual_annotation: + start_global_timestamp_ns: 1790046681079461682 + end_global_timestamp_ns: 1790046694690659577 + start_condition: hand_or_forearm_visible_and_in_contact_with_object + end_condition: before_release_or_contact_break + expected_visible_hands_or_arms: 2 + object_description: taped round belt + controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left + hand. Participating: hand_A+hand_B' + annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed + interaction. Start = last participating hand (hand_B) touches the far side: tiny + gap at anchor 310, fingertips on the belt at 311, pinch on it 312+ (start_12540311_s1_305-317_handB.jpg). + hand_A''s fist is on the near side from ~anchor 294-298 (start_12540311_s2_282-318.jpg). + End = last frame before the first release: hand_B pinch holds through 718, hand + starts moving at 719 and fingertips leave 720-721; hand_A holds until ~724-725 + (end_12540311_s1_712-733.jpg, end_12540311_s1_714-722_handB.jpg). No regrasp/hand + change at stride 10 (12540311 270-740).' +resolved_window: + start_sync_index: 310 + end_sync_index_exclusive: 718 + start_anchor_timestamp_ns: 1790046681079461682 + end_anchor_timestamp_ns: 1790046694690659577 + frame_count: 408 + duration_s: 13.611198 +per_camera_resolution: + '12540311': + start_source_frame_index: 311 + end_source_frame_index_exclusive: 719 + start_source_timestamp_ns: 1790046681079461682 + end_source_timestamp_ns: 1790046694690659577 + start_delta_ns: 0 + end_delta_ns: 0 + '12933256': + start_source_frame_index: 310 + end_source_frame_index_exclusive: 718 + start_source_timestamp_ns: 1790046681071885999 + end_source_timestamp_ns: 1790046694679206934 + start_delta_ns: -7575683 + end_delta_ns: -11452643 + '17736741': + start_source_frame_index: 312 + end_source_frame_index_exclusive: 720 + start_source_timestamp_ns: 1790046681085143454 + end_source_timestamp_ns: 1790046694698700321 + start_delta_ns: 5681772 + end_delta_ns: 8040744 + '23007103': + start_source_frame_index: 311 + end_source_frame_index_exclusive: 719 + start_source_timestamp_ns: 1790046681076271541 + end_source_timestamp_ns: 1790046694688884357 + start_delta_ns: -3190141 + end_delta_ns: -1775220 +validation: + within_all_camera_overlap: true + start_before_end: true + min_abs_camera_delta_ns: 0 + max_abs_camera_delta_ns: 11452643 + warnings: [] +created_by: manual +created_at: '2026-10-27T19:25:56+00:00' +updated_at: '2026-10-27T19:25:56+00:00' + diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/propagate_12540311_c6a_recovery2.log b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/propagate_12540311_c6a_recovery2.log new file mode 100644 index 0000000000000000000000000000000000000000..344f6e996f843a33a79b312edb86205764958ffc --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/propagate_12540311_c6a_recovery2.log @@ -0,0 +1,12 @@ + propagate in video: 0%| | 0/408 [00:00 /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/12540311/object_t0000.png +12540311/hand_A t=0: 30337 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/12540311/hand_A_t0000.png +12540311/hand_B t=0: 22169 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/12540311/hand_B_t0000.png +12540311/occluder t=0: 375497 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/12540311/occluder_t0000.png +12933256/object t=0: 4124 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/12933256/object_t0000.png +12933256/hand_A t=0: 14409 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/12933256/hand_A_t0000.png +12933256/hand_B t=0: 24040 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/12933256/hand_B_t0000.png +12933256/occluder t=0: 319334 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/12933256/occluder_t0000.png +17736741/object t=0: 9452 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/17736741/object_t0000.png +17736741/hand_A t=0: 33494 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/17736741/hand_A_t0000.png +17736741/hand_B t=0: 26121 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/17736741/hand_B_t0000.png +17736741/occluder t=0: 390007 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/17736741/occluder_t0000.png +23007103/object t=0: 4880 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/23007103/object_t0000.png +23007103/hand_A t=0: 12366 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/23007103/hand_A_t0000.png +23007103/hand_B t=0: 22798 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/23007103/hand_B_t0000.png +23007103/occluder t=0: 183042 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2/23007103/occluder_t0000.png diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/propose_c6a_recovery2_argv.json b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/propose_c6a_recovery2_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..7cd4fdd7dd06e5443d75870d9ebdf2fe59e4df62 --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/propose_c6a_recovery2_argv.json @@ -0,0 +1,19 @@ +[ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "scripts/phystwin_real_rgbd.py", + "propose", + "--session", + "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_231046_597606", + "--frames", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/inspection/frames.npz", + "--proposal", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_prompts_c6a_v1.json", + "--output", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/annotations", + "--overlays", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/proposal_overlays_c6a_recovery2", + "--checkpoint", + "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", + "--device", + "cuda" +] diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/propose_c6a_recovery2_result.json b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/propose_c6a_recovery2_result.json new file mode 100644 index 0000000000000000000000000000000000000000..73f6c1b0949fae16374046c92acef09b44ea0304 --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/propose_c6a_recovery2_result.json @@ -0,0 +1,6 @@ +{ + "returncode": 0, + "wall_seconds": 526.22944688797, + "started_unix": 1793143085.7875736, + "accepted": false +} diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/review-media_c6a_recovery2.log b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/review-media_c6a_recovery2.log new file mode 100644 index 0000000000000000000000000000000000000000..6f3e352bb0f36845d9b3c421d36cd0eeb27a832d --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/review-media_c6a_recovery2.log @@ -0,0 +1 @@ +Wrote 4 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/review_media_c6a_recovery2 diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/review-media_c6a_recovery2_argv.json b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/review-media_c6a_recovery2_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..4d082c9ee4504e968b524460c0b4ac30c03005fe --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/review-media_c6a_recovery2_argv.json @@ -0,0 +1,33 @@ +[ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3", + "scripts/phystwin_real_rgbd.py", + "review-media", + "--session", + "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_231046_597606", + "--frames", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/inspection/frames.npz", + "--annotations", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/annotations", + "--masks", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/masks", + "--output", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/review_media_c6a_recovery2", + "--view", + "12540311", + "--view", + "12933256", + "--view", + "17736741", + "--view", + "23007103", + "--t", + "0", + "--t", + "102", + "--t", + "204", + "--t", + "306", + "--t", + "407" +] diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/review-media_c6a_recovery2_result.json b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/review-media_c6a_recovery2_result.json new file mode 100644 index 0000000000000000000000000000000000000000..5369a409b99b416da4db9ba6ebaa2e94f0f46634 --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/review-media_c6a_recovery2_result.json @@ -0,0 +1,6 @@ +{ + "returncode": 0, + "wall_seconds": 643.2456362247467, + "started_unix": 1793146762.1717677, + "accepted": false +} diff --git a/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/window_command.json b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/window_command.json new file mode 100644 index 0000000000000000000000000000000000000000..2656b41644b148fac5c52032473ab4e64056744d --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/mask-supplier-window-anchor0311-0718/native/window_command.json @@ -0,0 +1,22 @@ +[ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3", + "scripts/phystwin_annotate_converted_session_window.py", + "--session-path", + "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_231046_597606", + "--anchor-serial", + "12540311", + "--start-timestamp-ns", + "1790046681079461682", + "--end-timestamp-ns", + "1790046694690659577", + "--expected-visible-hands-or-arms", + "2", + "--object-description", + "taped round belt", + "--controller-description", + "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A+hand_B", + "--notes", + "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start = last participating hand (hand_B) touches the far side: tiny gap at anchor 310, fingertips on the belt at 311, pinch on it 312+ (start_12540311_s1_305-317_handB.jpg). hand_A's fist is on the near side from ~anchor 294-298 (start_12540311_s2_282-318.jpg). End = last frame before the first release: hand_B pinch holds through 718, hand starts moving at 719 and fingertips leave 720-721; hand_A holds until ~724-725 (end_12540311_s1_712-733.jpg, end_12540311_s1_714-722_handB.jpg). No regrasp/hand change at stride 10 (12540311 270-740).", + "--output-path", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0311-0718/phystwin_window.yaml" +]