sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630: payload batch 1/1

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json

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sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12540311/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz

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+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12540311/annotations/prompts/12540311/hand_B/t0000_v01_seed_mask.npz

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sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12540311/annotations/prompts/12540311/occluder/t0000_v01.json

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sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12540311/phystwin_window.yaml

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+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230724_040591
+  session_id: session_20260921_230724_040591
+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_230724_040591
+    --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: 33440097
+  fps_estimate: 29.904219
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+  end_global_timestamp_ns: 1790046490926751512
+  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: same physical orange belt, owner-selected B
+  controller_description: hand_A bracelet hand; hand_B other hand
+  annotator_notes: "Owner accepted 317\u2013630 and native-camera timelines; own column\
+    \ only is admitted for hand inputs."
+resolved_window:
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+  end_sync_index_exclusive: 630
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+  warnings: []
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+created_at: '2026-10-07T20:26:26+00:00'
+updated_at: '2026-10-07T20:26:26+00:00'
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sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12540311/review_signoff.json

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+  "binding": {
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+  "instances": [
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+    "hand_B"
+  ],
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+      "instance": "hand_A",
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+      "run_sha256": "4419547d2a11b6563e4773bd1d244555746bff90b65b066b7335ded4abe9e2cd",
+      "prompts": [
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+          "sha256": "9a6d181b54b06502f38c7094d1733a7a047acb981eccb16d7d13351546115ca8"
+        }
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+      "visible_frames": 314
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+    {
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+      "instance": "hand_B",
+      "run_file": "masks/12540311/hand_B/run0001_t0000-0314.npz",
+      "run_sha256": "7e83b7300d5d66c5108cd02d13fbcfa3a111d1e9f38cfb3531067c3e6dc19dad",
+      "prompts": [
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+          "sha256": "2790506b8a7e6cc746ef74a4529eb2de6566f5311693d7b51f65c3ea73e787ab"
+        }
+      ],
+      "covered_frames": 314,
+      "visible_frames": 314
+    }
+  ],
+  "reviewed_by": "owner",
+  "decision": "looks good \u2014 owner acceptance of the presented complete hand/person mask review for 317\u2013630 and all four native timelines",
+  "date": "2026-10-07T21:32:03Z",
+  "labelling_as_accepted": "hand_A: bracelet hand, exclude bracelet, bare forearm through fingertips; hand_B: other hand, same extent; occluder: whole visible person including hands, bracelet and clothing, excluding belt/table/robot/background",
+  "review_material": [
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.html",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/hand_person_mask_review_h264.mp4",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/first_frame_hand_person_masks.png",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/mask_review_associations.csv",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.json"
+  ],
+  "code": "e7b09764ca283d561a1fc91b916cf66d91ff92e0"
+}

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+        {
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+          "sha256": "7d7e58bfc1fb63b758e5f751ca239e10e6a048a731fbde08bdd1d897fae2c932"
+        }
+      ],
+      "covered_frames": 314,
+      "visible_frames": 314
+    }
+  ],
+  "reviewed_by": "owner",
+  "decision": "looks good \u2014 owner acceptance of the presented complete hand/person mask review for 317\u2013630 and all four native timelines",
+  "date": "2026-10-07T21:32:04Z",
+  "labelling_as_accepted": "hand_A: bracelet hand, exclude bracelet, bare forearm through fingertips; hand_B: other hand, same extent; occluder: whole visible person including hands, bracelet and clothing, excluding belt/table/robot/background",
+  "review_material": [
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.html",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/hand_person_mask_review_h264.mp4",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/first_frame_hand_person_masks.png",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/mask_review_associations.csv",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.json"
+  ],
+  "code": "e7b09764ca283d561a1fc91b916cf66d91ff92e0"
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12540311/window_dry_run.log

@@ -0,0 +1,80 @@
+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230724_040591
+  session_id: session_20260921_230724_040591
+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_230724_040591
+    --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: 33440097
+  fps_estimate: 29.904219
+manual_annotation:
+  start_global_timestamp_ns: 1790046480456664960
+  end_global_timestamp_ns: 1790046490926751512
+  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: same physical orange belt, owner-selected B
+  controller_description: hand_A bracelet hand; hand_B other hand
+  annotator_notes: "Owner accepted 317\u2013630 and native-camera timelines; own column\
+    \ only is admitted for hand inputs."
+resolved_window:
+  start_sync_index: 316
+  end_sync_index_exclusive: 630
+  start_anchor_timestamp_ns: 1790046480456664960
+  end_anchor_timestamp_ns: 1790046490926751512
+  frame_count: 314
+  duration_s: 10.470087
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 317
+    end_source_frame_index_exclusive: 631
+    start_source_timestamp_ns: 1790046480456664960
+    end_source_timestamp_ns: 1790046490926751512
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '12933256':
+    start_source_frame_index: 316
+    end_source_frame_index_exclusive: 630
+    start_source_timestamp_ns: 1790046480441583260
+    end_source_timestamp_ns: 1790046490910728141
+    start_delta_ns: -15081700
+    end_delta_ns: -16023371
+  '17736741':
+    start_source_frame_index: 318
+    end_source_frame_index_exclusive: 632
+    start_source_timestamp_ns: 1790046480471839432
+    end_source_timestamp_ns: 1790046490939325463
+    start_delta_ns: 15174472
+    end_delta_ns: 12573951
+  '23007103':
+    start_source_frame_index: 317
+    end_source_frame_index_exclusive: 631
+    start_source_timestamp_ns: 1790046480459716503
+    end_source_timestamp_ns: 1790046490929564975
+    start_delta_ns: 3051543
+    end_delta_ns: 2813463
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 16023371
+  warnings: []
+created_by: manual
+created_at: null
+updated_at: null
+

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12540311/window_validate.log

@@ -0,0 +1,8 @@
+{
+  "consistent": true,
+  "yaml_path": "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/input_masks/12540311/phystwin_window.yaml",
+  "drift_keys": [],
+  "existing": {},
+  "resolved": {},
+  "warnings": []
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12540311/window_write.log

@@ -0,0 +1 @@
+Wrote /mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/input_masks/12540311/phystwin_window.yaml

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json

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+{
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+  "binding": {
+    "session_id": "session_20260921_230724_040591",
+    "window_sha256": "7433743ccd74e134f8b1848a43eb2ff1712261f5df78d3bea4f162f4c70e0c27",
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+    "native_container_frame_index": 317,
+    "view_time_ns": 1790046480441583260
+  },
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+  "note": "",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
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+  "seed_mask_pixels": 17955,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_rpo_target_inputs_20261007/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_rpo_target_inputs_20261007/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": "2026-10-07T20:49:37Z"
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12933256/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz

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+size 1652

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json

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+{
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+  "seed_model": {
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+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_rpo_target_inputs_20261007/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
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+    "sam2_git": {
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+      "clean": true
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+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
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+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
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+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-07T20:49:45Z"
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12933256/annotations/prompts/12933256/hand_B/t0000_v01_seed_mask.npz

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sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12933256/annotations/prompts/12933256/occluder/t0000_v01.json

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+{
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+  "created_utc": "2026-10-07T20:49:58Z"
+}

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sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12933256/phystwin_window.yaml

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+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230724_040591
+  session_id: session_20260921_230724_040591
+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_230724_040591
+    --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: '12933256'
+  anchor_stream_id: zed_12933256_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33444925
+  fps_estimate: 29.899903
+manual_annotation:
+  start_global_timestamp_ns: 1790046480441583260
+  end_global_timestamp_ns: 1790046490910728141
+  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: same physical orange belt, owner-selected B
+  controller_description: hand_A bracelet hand; hand_B other hand
+  annotator_notes: "Owner accepted 317\u2013630 and native-camera timelines; own column\
+    \ only is admitted for hand inputs."
+resolved_window:
+  start_sync_index: 316
+  end_sync_index_exclusive: 630
+  start_anchor_timestamp_ns: 1790046480441583260
+  end_anchor_timestamp_ns: 1790046490910728141
+  frame_count: 314
+  duration_s: 10.469145
+per_camera_resolution:
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+    end_source_frame_index_exclusive: 631
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+    end_source_timestamp_ns: 1790046490926751512
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+    end_source_timestamp_ns: 1790046490910728141
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+    start_delta_ns: -15367772
+    end_delta_ns: -15005054
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 16023371
+  warnings: []
+created_by: manual
+created_at: '2026-10-07T20:26:29+00:00'
+updated_at: '2026-10-07T20:26:29+00:00'
+

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12933256/review_signoff.json

@@ -0,0 +1,68 @@
+{
+  "kind": "real_rgbd_mask_review_signoff",
+  "binding": {
+    "session_id": "session_20260921_230724_040591",
+    "window_sha256": "7433743ccd74e134f8b1848a43eb2ff1712261f5df78d3bea4f162f4c70e0c27",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      316,
+      630
+    ],
+    "anchor_time_ns_first_last": [
+      1790046480441583260,
+      1790046490910728141
+    ]
+  },
+  "frames_npz_sha256": "eab957d5b5a448542195df7eec5c867510dfaf90a0f8e14cf1b1a9cc352af784",
+  "instances": [
+    "hand_A",
+    "hand_B"
+  ],
+  "accepted": [
+    {
+      "serial": "12933256",
+      "instance": "hand_A",
+      "run_file": "masks/12933256/hand_A/run0001_t0000-0314.npz",
+      "run_sha256": "8db8f1719b66cf2cd2bd5c1d6d0c74c390f25d8a46bdf9d8ab687c9a8778f3b3",
+      "prompts": [
+        {
+          "file": "annotations/prompts/12933256/hand_A/t0000_v01.json",
+          "sha256": "20dba3336ca0c6c37af0e9ec8a1eac77683a7a798b19ee5ee8d3bd07031c9ca8"
+        }
+      ],
+      "covered_frames": 314,
+      "visible_frames": 314
+    },
+    {
+      "serial": "12933256",
+      "instance": "hand_B",
+      "run_file": "masks/12933256/hand_B/run0001_t0000-0314.npz",
+      "run_sha256": "0ee1f8cf870e6856b38396333c4d6cd90b92bc8348f6cea28a8ecc061886a9b8",
+      "prompts": [
+        {
+          "file": "annotations/prompts/12933256/hand_B/t0000_v01.json",
+          "sha256": "8252fa3289308a18498e9f6e11d99ac12187a05d0acb9ebb041b9639ac671c46"
+        }
+      ],
+      "covered_frames": 314,
+      "visible_frames": 314
+    }
+  ],
+  "reviewed_by": "owner",
+  "decision": "looks good \u2014 owner acceptance of the presented complete hand/person mask review for 317\u2013630 and all four native timelines",
+  "date": "2026-10-07T21:32:05Z",
+  "labelling_as_accepted": "hand_A: bracelet hand, exclude bracelet, bare forearm through fingertips; hand_B: other hand, same extent; occluder: whole visible person including hands, bracelet and clothing, excluding belt/table/robot/background",
+  "review_material": [
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.html",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/hand_person_mask_review_h264.mp4",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/first_frame_hand_person_masks.png",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/mask_review_associations.csv",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.json"
+  ],
+  "code": "e7b09764ca283d561a1fc91b916cf66d91ff92e0"
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12933256/review_signoff_occluder.json

@@ -0,0 +1,53 @@
+{
+  "kind": "real_rgbd_mask_review_signoff",
+  "binding": {
+    "session_id": "session_20260921_230724_040591",
+    "window_sha256": "7433743ccd74e134f8b1848a43eb2ff1712261f5df78d3bea4f162f4c70e0c27",
+    "serials": [
+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
+    "sync_index_half_open": [
+      316,
+      630
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+    "anchor_time_ns_first_last": [
+      1790046480441583260,
+      1790046490910728141
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+  "frames_npz_sha256": "eab957d5b5a448542195df7eec5c867510dfaf90a0f8e14cf1b1a9cc352af784",
+  "instances": [
+    "occluder"
+  ],
+  "accepted": [
+    {
+      "serial": "12933256",
+      "instance": "occluder",
+      "run_file": "masks/12933256/occluder/run0001_t0000-0314.npz",
+      "run_sha256": "6f652b47637af0c42cf726de2c9d34f140822ec03a81aa6b287a261355ff2632",
+      "prompts": [
+        {
+          "file": "annotations/prompts/12933256/occluder/t0000_v01.json",
+          "sha256": "e2516166a8d65f4e6e3a723d87d8b73a6294510161be76b977c4075d0f6c9dc8"
+        }
+      ],
+      "covered_frames": 314,
+      "visible_frames": 314
+    }
+  ],
+  "reviewed_by": "owner",
+  "decision": "looks good \u2014 owner acceptance of the presented complete hand/person mask review for 317\u2013630 and all four native timelines",
+  "date": "2026-10-07T21:32:06Z",
+  "labelling_as_accepted": "hand_A: bracelet hand, exclude bracelet, bare forearm through fingertips; hand_B: other hand, same extent; occluder: whole visible person including hands, bracelet and clothing, excluding belt/table/robot/background",
+  "review_material": [
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.html",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/hand_person_mask_review_h264.mp4",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/first_frame_hand_person_masks.png",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/mask_review_associations.csv",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.json"
+  ],
+  "code": "e7b09764ca283d561a1fc91b916cf66d91ff92e0"
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12933256/window_dry_run.log

@@ -0,0 +1,80 @@
+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230724_040591
+  session_id: session_20260921_230724_040591
+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_230724_040591
+    --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: '12933256'
+  anchor_stream_id: zed_12933256_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33444925
+  fps_estimate: 29.899903
+manual_annotation:
+  start_global_timestamp_ns: 1790046480441583260
+  end_global_timestamp_ns: 1790046490910728141
+  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: same physical orange belt, owner-selected B
+  controller_description: hand_A bracelet hand; hand_B other hand
+  annotator_notes: "Owner accepted 317\u2013630 and native-camera timelines; own column\
+    \ only is admitted for hand inputs."
+resolved_window:
+  start_sync_index: 316
+  end_sync_index_exclusive: 630
+  start_anchor_timestamp_ns: 1790046480441583260
+  end_anchor_timestamp_ns: 1790046490910728141
+  frame_count: 314
+  duration_s: 10.469145
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 317
+    end_source_frame_index_exclusive: 631
+    start_source_timestamp_ns: 1790046480456664960
+    end_source_timestamp_ns: 1790046490926751512
+    start_delta_ns: 15081700
+    end_delta_ns: 16023371
+  '12933256':
+    start_source_frame_index: 316
+    end_source_frame_index_exclusive: 630
+    start_source_timestamp_ns: 1790046480441583260
+    end_source_timestamp_ns: 1790046490910728141
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '17736741':
+    start_source_frame_index: 317
+    end_source_frame_index_exclusive: 631
+    start_source_timestamp_ns: 1790046480438878429
+    end_source_timestamp_ns: 1790046490908116082
+    start_delta_ns: -2704831
+    end_delta_ns: -2612059
+  '23007103':
+    start_source_frame_index: 316
+    end_source_frame_index_exclusive: 630
+    start_source_timestamp_ns: 1790046480426215488
+    end_source_timestamp_ns: 1790046490895723087
+    start_delta_ns: -15367772
+    end_delta_ns: -15005054
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 16023371
+  warnings: []
+created_by: manual
+created_at: null
+updated_at: null
+

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12933256/window_validate.log

@@ -0,0 +1,8 @@
+{
+  "consistent": true,
+  "yaml_path": "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/input_masks/12933256/phystwin_window.yaml",
+  "drift_keys": [],
+  "existing": {},
+  "resolved": {},
+  "warnings": []
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/12933256/window_write.log

@@ -0,0 +1 @@
+Wrote /mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/input_masks/12933256/phystwin_window.yaml

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_230724_040591",
+    "window_sha256": "d744f09eef735598b4152a8213f6272a270d0134d32db494ebd45b907dac30cf",
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+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "hand_A",
+  "frame": {
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+    "sync_index": 317,
+    "converted_frame_index": 318,
+    "official_frame_index": 318,
+    "native_container_frame_index": 319,
+    "view_time_ns": 1790046480471839432
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
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+      697.75
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+  "labels": [
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+  "source": "manual",
+  "note": "",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "d9e43d87d6097820d3dcb889c0329d68d62d83d9e773391586c41e4a366fb841",
+  "seed_mask_pixels": 31422,
+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_rpo_target_inputs_20261007/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_rpo_target_inputs_20261007/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": "2026-10-07T20:50:34Z"
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/17736741/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d9e43d87d6097820d3dcb889c0329d68d62d83d9e773391586c41e4a366fb841
+size 2211

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/17736741/annotations/prompts/17736741/hand_B/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_230724_040591",
+    "window_sha256": "d744f09eef735598b4152a8213f6272a270d0134d32db494ebd45b907dac30cf",
+    "serials": [
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+      "12933256",
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+    "converted_frame_index": 318,
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+    "view_time_ns": 1790046480471839432
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+  "seed_mask_file": "t0000_v01_seed_mask.npz",
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+  "seed_mask_pixels": 22817,
+  "seed_model": {
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+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_rpo_target_inputs_20261007/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_rpo_target_inputs_20261007/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": "2026-10-07T20:50:44Z"
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/17736741/annotations/prompts/17736741/hand_B/t0000_v01_seed_mask.npz

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+size 1910

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/17736741/annotations/prompts/17736741/occluder/t0000_v01.json

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+{
+  "schema": "real_rgbd_instance_prompt_v1",
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+  "note": "",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
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+  "seed_mask_pixels": 353128,
+  "seed_model": {
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+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/data0/magna/belt_perception_wt_rpo_target_inputs_20261007/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_rpo_target_inputs_20261007/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
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+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
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+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-07T20:50:20Z"
+}

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sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/17736741/phystwin_window.yaml

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+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230724_040591
+  session_id: session_20260921_230724_040591
+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_230724_040591
+    --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: '17736741'
+  anchor_stream_id: zed_17736741_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33439827
+  fps_estimate: 29.904461
+manual_annotation:
+  start_global_timestamp_ns: 1790046480471839432
+  end_global_timestamp_ns: 1790046490939325463
+  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: same physical orange belt, owner-selected B
+  controller_description: hand_A bracelet hand; hand_B other hand
+  annotator_notes: "Owner accepted 317\u2013630 and native-camera timelines; own column\
+    \ only is admitted for hand inputs."
+resolved_window:
+  start_sync_index: 317
+  end_sync_index_exclusive: 631
+  start_anchor_timestamp_ns: 1790046480471839432
+  end_anchor_timestamp_ns: 1790046490939325463
+  frame_count: 314
+  duration_s: 10.467486
+per_camera_resolution:
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+    end_source_frame_index_exclusive: 631
+    start_source_timestamp_ns: 1790046480456664960
+    end_source_timestamp_ns: 1790046490926751512
+    start_delta_ns: -15174472
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+    end_source_timestamp_ns: 1790046490945166084
+    start_delta_ns: 2978035
+    end_delta_ns: 5840621
+  '17736741':
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+    end_source_frame_index_exclusive: 632
+    start_source_timestamp_ns: 1790046480471839432
+    end_source_timestamp_ns: 1790046490939325463
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '23007103':
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+    end_source_frame_index_exclusive: 631
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+    end_source_timestamp_ns: 1790046490929564975
+    start_delta_ns: -12122929
+    end_delta_ns: -9760488
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 15174472
+  warnings: []
+created_by: manual
+created_at: '2026-10-07T20:26:32+00:00'
+updated_at: '2026-10-07T20:26:32+00:00'
+

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/17736741/review_signoff.json

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+{
+  "kind": "real_rgbd_mask_review_signoff",
+  "binding": {
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+    "window_sha256": "d744f09eef735598b4152a8213f6272a270d0134d32db494ebd45b907dac30cf",
+    "serials": [
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+  "instances": [
+    "hand_A",
+    "hand_B"
+  ],
+  "accepted": [
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+      "instance": "hand_A",
+      "run_file": "masks/17736741/hand_A/run0001_t0000-0314.npz",
+      "run_sha256": "19243da39a207668f5c27608ec69aa19fc9e57cad57af53c1922b7cbe6a843e3",
+      "prompts": [
+        {
+          "file": "annotations/prompts/17736741/hand_A/t0000_v01.json",
+          "sha256": "f4d4ea7d02d44e19b64c334bb2c2dbc1cef3acc7c4686f4f03a8697c82b941b0"
+        }
+      ],
+      "covered_frames": 314,
+      "visible_frames": 314
+    },
+    {
+      "serial": "17736741",
+      "instance": "hand_B",
+      "run_file": "masks/17736741/hand_B/run0001_t0000-0314.npz",
+      "run_sha256": "6b227013e43ee93a1acbc087b9807aab8b71cdb6a97af94e770d4296cfd44bcd",
+      "prompts": [
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+          "file": "annotations/prompts/17736741/hand_B/t0000_v01.json",
+          "sha256": "cb7593d5023a4ef296dffb7c0fc4cf58a73e1af992bb78e8ce2f67ada6fa4692"
+        }
+      ],
+      "covered_frames": 314,
+      "visible_frames": 314
+    }
+  ],
+  "reviewed_by": "owner",
+  "decision": "looks good \u2014 owner acceptance of the presented complete hand/person mask review for 317\u2013630 and all four native timelines",
+  "date": "2026-10-07T21:32:07Z",
+  "labelling_as_accepted": "hand_A: bracelet hand, exclude bracelet, bare forearm through fingertips; hand_B: other hand, same extent; occluder: whole visible person including hands, bracelet and clothing, excluding belt/table/robot/background",
+  "review_material": [
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.html",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/hand_person_mask_review_h264.mp4",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/first_frame_hand_person_masks.png",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/mask_review_associations.csv",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.json"
+  ],
+  "code": "e7b09764ca283d561a1fc91b916cf66d91ff92e0"
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/17736741/review_signoff_occluder.json

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+{
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+  "instances": [
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+      "run_sha256": "80845721f3536f4fa0f6ab070ffbc2caa93f51070fabd707792333143c2ccf1d",
+      "prompts": [
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+          "sha256": "cc7b18238c4537b836c9e3754c9c16fedf87394f2c13be04cd3fd62556c159c9"
+        }
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+      "visible_frames": 314
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+  ],
+  "reviewed_by": "owner",
+  "decision": "looks good \u2014 owner acceptance of the presented complete hand/person mask review for 317\u2013630 and all four native timelines",
+  "date": "2026-10-07T21:32:08Z",
+  "labelling_as_accepted": "hand_A: bracelet hand, exclude bracelet, bare forearm through fingertips; hand_B: other hand, same extent; occluder: whole visible person including hands, bracelet and clothing, excluding belt/table/robot/background",
+  "review_material": [
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.html",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/hand_person_mask_review_h264.mp4",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/first_frame_hand_person_masks.png",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/mask_review_associations.csv",
+    "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/mask_review_native/review.json"
+  ],
+  "code": "e7b09764ca283d561a1fc91b916cf66d91ff92e0"
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/17736741/window_dry_run.log

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+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_230724_040591
+  session_id: session_20260921_230724_040591
+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_230724_040591
+    --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: '17736741'
+  anchor_stream_id: zed_17736741_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33439827
+  fps_estimate: 29.904461
+manual_annotation:
+  start_global_timestamp_ns: 1790046480471839432
+  end_global_timestamp_ns: 1790046490939325463
+  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: same physical orange belt, owner-selected B
+  controller_description: hand_A bracelet hand; hand_B other hand
+  annotator_notes: "Owner accepted 317\u2013630 and native-camera timelines; own column\
+    \ only is admitted for hand inputs."
+resolved_window:
+  start_sync_index: 317
+  end_sync_index_exclusive: 631
+  start_anchor_timestamp_ns: 1790046480471839432
+  end_anchor_timestamp_ns: 1790046490939325463
+  frame_count: 314
+  duration_s: 10.467486
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+  '12540311':
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+    end_source_frame_index_exclusive: 631
+    start_source_timestamp_ns: 1790046480456664960
+    end_source_timestamp_ns: 1790046490926751512
+    start_delta_ns: -15174472
+    end_delta_ns: -12573951
+  '12933256':
+    start_source_frame_index: 317
+    end_source_frame_index_exclusive: 631
+    start_source_timestamp_ns: 1790046480474817467
+    end_source_timestamp_ns: 1790046490945166084
+    start_delta_ns: 2978035
+    end_delta_ns: 5840621
+  '17736741':
+    start_source_frame_index: 318
+    end_source_frame_index_exclusive: 632
+    start_source_timestamp_ns: 1790046480471839432
+    end_source_timestamp_ns: 1790046490939325463
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '23007103':
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+    end_source_frame_index_exclusive: 631
+    start_source_timestamp_ns: 1790046480459716503
+    end_source_timestamp_ns: 1790046490929564975
+    start_delta_ns: -12122929
+    end_delta_ns: -9760488
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 15174472
+  warnings: []
+created_by: manual
+created_at: null
+updated_at: null
+

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/17736741/window_validate.log

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+{
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+  "yaml_path": "/mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/input_masks/17736741/phystwin_window.yaml",
+  "drift_keys": [],
+  "existing": {},
+  "resolved": {},
+  "warnings": []
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/17736741/window_write.log

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+Wrote /mnt/data2/magna/belt_perception_shared/experiment_artifacts/rpo_target_inputs_20261007/target/input_masks/17736741/phystwin_window.yaml

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json

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+{
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+    "binarize_mask_from_pts_for_mem_enc": true,
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+    "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": "2026-10-07T20:51:02Z"
+}

sessions/session_20260921_230724_040591/annotations/windows/sync0316-0630/native/23007103/annotations/prompts/23007103/hand_A/t0000_v01_seed_mask.npz

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