sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682: payload batch 2/2

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/12933256/inspection/frames.npz

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sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/12933256/inspection/inspection.json

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sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/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_233144_367389
+  session_id: session_20260921_233144_367389
+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_233144_367389
+    --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: 33445482
+  fps_estimate: 29.899405
+manual_annotation:
+  start_global_timestamp_ns: 1790047936272228843
+  end_global_timestamp_ns: 1790047952560414319
+  start_condition: hand_or_forearm_visible_and_in_contact_with_object
+  end_condition: before_release_or_contact_break
+  expected_visible_hands_or_arms: 1
+  object_description: bike chain
+  controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left
+    hand. Participating: hand_A'
+  annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed
+    interaction. Start: hand enters ~179; fingertips reach the near/lower-left strand
+    at ~193 and are on it by 195 in 17736741, 12540311 and 12933256 (start_17736741_stride1_176-200.jpg,
+    boundary_start_a195.jpg). End: after put-down the hand holds the chain end static
+    on the table through 682; at 683 the hand moves away (blur) and by 684 a gap is
+    visible and the formerly covered chain end is exposed (end_12540311_stride1_672-696.jpg).'
+resolved_window:
+  start_sync_index: 194
+  end_sync_index_exclusive: 682
+  start_anchor_timestamp_ns: 1790047936272228843
+  end_anchor_timestamp_ns: 1790047952560414319
+  frame_count: 488
+  duration_s: 16.288185
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 195
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936258160741
+    end_source_timestamp_ns: 1790047952548333550
+    start_delta_ns: -14068102
+    end_delta_ns: -12080769
+  '12933256':
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+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936272228843
+    end_source_timestamp_ns: 1790047952560414319
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '17736741':
+    start_source_frame_index: 195
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936262951519
+    end_source_timestamp_ns: 1790047952553292656
+    start_delta_ns: -9277324
+    end_delta_ns: -7121663
+  '23007103':
+    start_source_frame_index: 195
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936275526223
+    end_source_timestamp_ns: 1790047952565160839
+    start_delta_ns: 3297380
+    end_delta_ns: 4746520
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 14068102
+  warnings: []
+created_by: manual
+created_at: '2026-10-27T19:31:26+00:00'
+updated_at: '2026-10-27T19:31:26+00:00'
+

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/12933256/proposal_prompts_c6a_v1.json

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+{
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+        0,
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+      "box": [
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+      ],
+      "note": "Agent draft only; original anchor window 195\u2013682 retained. Visible chain links only; exclude loop interior/table, shadows and right fingers. Own converted frame 195."
+    },
+    {
+      "serial": "12933256",
+      "instance": "hand_A",
+      "t": 0,
+      "points": [
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+      "box": [
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+      "note": "Agent draft only; original anchor window 195\u2013682 retained. Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, sleeve and chain."
+    },
+    {
+      "serial": "12933256",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
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+      "box": [
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+      "note": "Agent draft only; original anchor window 195\u2013682 retained. All visible person pixels: right black sleeve/body entering from upper right, bracelet, bare forearm and hand; exclude robot, poles and chain."
+    },
+    {
+      "serial": "12933256",
+      "instance": "hand_B",
+      "t": 0,
+      "absence_stop": 488,
+      "note": "Agent draft absence over [0,488): only right bracelet hand_A participates; visible resting left hand belongs in occluder. Original anchor window 195\u2013682, no 679 shortening. Not owner-reviewed."
+    }
+  ]
+}

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/12933256/window_command.json

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+[
+  "/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_233144_367389",
+  "--anchor-serial",
+  "12933256",
+  "--start-timestamp-ns",
+  "1790047936272228843",
+  "--end-timestamp-ns",
+  "1790047952560414319",
+  "--expected-visible-hands-or-arms",
+  "1",
+  "--object-description",
+  "bike chain",
+  "--controller-description",
+  "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A",
+  "--notes",
+  "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start: hand enters ~179; fingertips reach the near/lower-left strand at ~193 and are on it by 195 in 17736741, 12540311 and 12933256 (start_17736741_stride1_176-200.jpg, boundary_start_a195.jpg). End: after put-down the hand holds the chain end static on the table through 682; at 683 the hand moves away (blur) and by 684 a gap is visible and the formerly covered chain end is exposed (end_12540311_stride1_672-696.jpg).",
+  "--output-path",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/12933256/phystwin_window.yaml"
+]

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json

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+  "supersedes": null,
+  "image_size_hw": [
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+  "source": "agent:c6a_20261027",
+  "note": "Agent draft only; original anchor window 195\u2013682 retained. Right bracelet hand: visible bare forearm, hand and fingers; exclude bracelet, sleeve, chain and robot. Sparse owner-method revision: at most five total positive/negative points; whole-person occluder includes clothing and accessories. Agent draft only, pending preview and owner review.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "c06ec62f3dc794d73cbd1a41abed78f36cf690b8a0e1cc78ff368891a4c5aa5c",
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+  "seed_model": {
+    "predictor": "sam2_video_predictor",
+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
+    },
+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-28T00:24:19Z"
+}

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz

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+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
+    "session_id": "session_20260921_233144_367389",
+    "window_sha256": "3551806cf81800c40280089215e1f7ac307c3abbe0adf680e14a8003cb8aee04",
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+      "12540311",
+      "12933256",
+      "17736741",
+      "23007103"
+    ],
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+      682
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+    "anchor_time_ns_first_last": [
+      1790047936262951519,
+      1790047952553292656
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+  "serial": "17736741",
+  "view_index": 2,
+  "instance": "hand_B",
+  "frame": {
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+    "sync_index": 194,
+    "converted_frame_index": 195,
+    "official_frame_index": 195,
+    "native_container_frame_index": 196,
+    "view_time_ns": 1790047936262951519
+  },
+  "version": 1,
+  "supersedes": null,
+  "image_size_hw": [
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+    1920
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+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [],
+  "labels": [],
+  "box_uv": null,
+  "source": "agent:c6a_20261027",
+  "note": "Agent draft absence over [0,488): only right bracelet hand_A participates; visible resting left hand belongs in occluder. Original anchor window 195\u2013682, no 679 shortening. Not owner-reviewed.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "6e854e62e28996ac78abed3a72856e00f27ba852d1e4f076149062d512afe1d0",
+  "seed_mask_pixels": 0,
+  "seed_model": {
+    "predictor": "agent_proposed_absence"
+  },
+  "created_utc": "2026-10-28T00:24:20Z",
+  "reviewed_absence_half_open": [
+    0,
+    488
+  ]
+}

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01.json

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+{
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+  "supersedes": null,
+  "image_size_hw": [
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+  ],
+  "pixel_convention": "native rectified-left pixels: u = column, v = row, integer values at pixel centres",
+  "points_uv": [
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+  "source": "agent:c6a_20261027",
+  "note": "Agent draft only; original anchor window 195\u2013682 retained. Visible chain links only, including exposed pieces beside hand; exclude loop interior/table, shadows and occluding right hand. Own converted frame 195. Sparse owner-method revision: at most five total positive/negative points; whole-person occluder includes clothing and accessories. Agent draft only, pending preview and owner review.",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "49da788e72cc16fbb04b5ef2a8f218d4ff5c9b388dd1a75601d7bb99812cd1d4",
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+    "config": "configs/sam2.1/sam2.1_hiera_l.yaml",
+    "config_file": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2/configs/sam2.1/sam2.1_hiera_l.yaml",
+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2",
+    "sam2_git": {
+      "commit": "969dad578a42d4c75624f87821497d37aabfbe99",
+      "clean": true
+    },
+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-28T00:24:19Z"
+}

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+  "source": "agent:c6a_20261027",
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+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "602f26ff11e1fc7c4d084a0ddc13443ed21e38e953e768f1b0de7fdd247ddb31",
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+    "checkpoint": "/mnt/kostas-graid/datasets/leonmkim/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
+    "checkpoint_sha256": "2647878d5dfa5098f2f8649825738a9345572bae2d4350a2468587ece47dd318",
+    "sam2_package": "/mnt/kostas-graid/sw/envs/leonmkim/worktrees/belt_perception_wt_c6a_lab_sam_grasp_20261027/segment-anything-2/sam2",
+    "sam2_git": {
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+      "clean": true
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+    "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)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-28T00:24:19Z"
+}

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/17736741/annotations/prompts/17736741/occluder/t0000_v01_seed_mask.npz

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+{
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+  "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/17736741",
+  "serial": "17736741",
+  "frame_bundle_byte_equal": true,
+  "roles": [
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+      "T": 488,
+      "supplier_runs": [
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+      "T": 488,
+      "supplier_runs": [
+        1
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+      "current_prompt_seed_and_frame_binding_passed": true
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+      "T": 488,
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+      "supplier_runs": [
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+  "owner_window_accepted": false,
+  "owner_masks_accepted": false
+}

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/17736741/inspect.log

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+Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/17736741/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/17736741/inspection/inspection.json

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/17736741/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_233144_367389",
+  "--window",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/17736741/phystwin_window.yaml",
+  "--frame-association",
+  "anchor_nearest",
+  "--output",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/17736741/inspection",
+  "--sample-t",
+  "0"
+]

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/17736741/inspection/frames.npz

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sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/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_233144_367389
+  session_id: session_20260921_233144_367389
+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_233144_367389
+    --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: 33450564
+  fps_estimate: 29.894862
+manual_annotation:
+  start_global_timestamp_ns: 1790047936262951519
+  end_global_timestamp_ns: 1790047952553292656
+  start_condition: hand_or_forearm_visible_and_in_contact_with_object
+  end_condition: before_release_or_contact_break
+  expected_visible_hands_or_arms: 1
+  object_description: bike chain
+  controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left
+    hand. Participating: hand_A'
+  annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed
+    interaction. Start: hand enters ~179; fingertips reach the near/lower-left strand
+    at ~193 and are on it by 195 in 17736741, 12540311 and 12933256 (start_17736741_stride1_176-200.jpg,
+    boundary_start_a195.jpg). End: after put-down the hand holds the chain end static
+    on the table through 682; at 683 the hand moves away (blur) and by 684 a gap is
+    visible and the formerly covered chain end is exposed (end_12540311_stride1_672-696.jpg).'
+resolved_window:
+  start_sync_index: 194
+  end_sync_index_exclusive: 682
+  start_anchor_timestamp_ns: 1790047936262951519
+  end_anchor_timestamp_ns: 1790047952553292656
+  frame_count: 488
+  duration_s: 16.290341
+per_camera_resolution:
+  '12540311':
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+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936258160741
+    end_source_timestamp_ns: 1790047952548333550
+    start_delta_ns: -4790778
+    end_delta_ns: -4959106
+  '12933256':
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+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936272228843
+    end_source_timestamp_ns: 1790047952560414319
+    start_delta_ns: 9277324
+    end_delta_ns: 7121663
+  '17736741':
+    start_source_frame_index: 195
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936262951519
+    end_source_timestamp_ns: 1790047952553292656
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '23007103':
+    start_source_frame_index: 195
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936275526223
+    end_source_timestamp_ns: 1790047952565160839
+    start_delta_ns: 12574704
+    end_delta_ns: 11868183
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 12574704
+  warnings: []
+created_by: manual
+created_at: '2026-10-27T19:31:56+00:00'
+updated_at: '2026-10-27T19:31:56+00:00'
+

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/17736741/proposal_prompts_c6a_v1.json

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+{
+  "proposer": "c6a_20261027",
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+      "box": [
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+      "note": "Agent draft only; original anchor window 195\u2013682 retained. Visible chain links only, including exposed pieces beside hand; exclude loop interior/table, shadows and occluding right hand. Own converted frame 195."
+    },
+    {
+      "serial": "17736741",
+      "instance": "hand_A",
+      "t": 0,
+      "points": [
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+      "box": [
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+      "note": "Agent draft only; original anchor window 195\u2013682 retained. Right bracelet hand: visible bare forearm, hand and fingers; exclude bracelet, sleeve, chain and robot."
+    },
+    {
+      "serial": "17736741",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
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+      "note": "Agent draft only; original anchor window 195\u2013682 retained. All visible person pixels: cropped head/torso, both sleeves, active right arm and left hand resting on table edge. Resting left hand belongs only to occluder."
+    },
+    {
+      "serial": "17736741",
+      "instance": "hand_B",
+      "t": 0,
+      "absence_stop": 488,
+      "note": "Agent draft absence over [0,488): only right bracelet hand_A participates; visible resting left hand belongs in occluder. Original anchor window 195\u2013682, no 679 shortening. Not owner-reviewed."
+    }
+  ]
+}

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/17736741/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_233144_367389",
+  "--anchor-serial",
+  "17736741",
+  "--start-timestamp-ns",
+  "1790047936262951519",
+  "--end-timestamp-ns",
+  "1790047952553292656",
+  "--expected-visible-hands-or-arms",
+  "1",
+  "--object-description",
+  "bike chain",
+  "--controller-description",
+  "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A",
+  "--notes",
+  "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start: hand enters ~179; fingertips reach the near/lower-left strand at ~193 and are on it by 195 in 17736741, 12540311 and 12933256 (start_17736741_stride1_176-200.jpg, boundary_start_a195.jpg). End: after put-down the hand holds the chain end static on the table through 682; at 683 the hand moves away (blur) and by 684 a gap is visible and the formerly covered chain end is exposed (end_12540311_stride1_672-696.jpg).",
+  "--output-path",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/17736741/phystwin_window.yaml"
+]

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json

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+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
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+    "window_sha256": "2fdb36fa6a0cc0d2deb9d066d3f7d7827c4ec9f17d0b9a66c10bc1a81f4ccbb4",
+    "serials": [
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+      "12933256",
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+  "view_index": 3,
+  "instance": "hand_A",
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sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/23007103/inspect.log

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sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/23007103/inspect_command.json

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+}

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sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/23007103/phystwin_window.yaml

@@ -0,0 +1,85 @@
+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233144_367389
+  session_id: session_20260921_233144_367389
+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_233144_367389
+    --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: '23007103'
+  anchor_stream_id: zed_23007103_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33448168
+  fps_estimate: 29.897004
+manual_annotation:
+  start_global_timestamp_ns: 1790047936241908049
+  end_global_timestamp_ns: 1790047952565160839
+  start_condition: hand_or_forearm_visible_and_in_contact_with_object
+  end_condition: before_release_or_contact_break
+  expected_visible_hands_or_arms: 1
+  object_description: bike chain
+  controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left
+    hand. Participating: hand_A'
+  annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed
+    interaction. Start: hand enters ~179; fingertips reach the near/lower-left strand
+    at ~193 and are on it by 195 in 17736741, 12540311 and 12933256 (start_17736741_stride1_176-200.jpg,
+    boundary_start_a195.jpg). End: after put-down the hand holds the chain end static
+    on the table through 682; at 683 the hand moves away (blur) and by 684 a gap is
+    visible and the formerly covered chain end is exposed (end_12540311_stride1_672-696.jpg).'
+resolved_window:
+  start_sync_index: 194
+  end_sync_index_exclusive: 683
+  start_anchor_timestamp_ns: 1790047936241908049
+  end_anchor_timestamp_ns: 1790047952565160839
+  frame_count: 489
+  duration_s: 16.323253
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 195
+    end_source_frame_index_exclusive: 684
+    start_source_timestamp_ns: 1790047936258160741
+    end_source_timestamp_ns: 1790047952581868200
+    start_delta_ns: 16252692
+    end_delta_ns: 16707361
+  '12933256':
+    start_source_frame_index: 194
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936237727547
+    end_source_timestamp_ns: 1790047952560414319
+    start_delta_ns: -4180502
+    end_delta_ns: -4746520
+  '17736741':
+    start_source_frame_index: 194
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936232455258
+    end_source_timestamp_ns: 1790047952553292656
+    start_delta_ns: -9452791
+    end_delta_ns: -11868183
+  '23007103':
+    start_source_frame_index: 194
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936241908049
+    end_source_timestamp_ns: 1790047952565160839
+    start_delta_ns: 0
+    end_delta_ns: 0
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 16707361
+  warnings: []
+created_by: manual
+created_at: '2026-10-27T19:32:21+00:00'
+updated_at: '2026-10-27T19:32:21+00:00'
+

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/23007103/proposal_prompts_c6a_v1.json

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+{
+  "proposer": "c6a_20261027",
+  "prompts": [
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+      "instance": "object",
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+        [
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+          514
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+        [
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+      "labels": [
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+        0,
+        0
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+      "box": [
+        903,
+        465,
+        1174,
+        583
+      ],
+      "note": "Agent draft only; original anchor window 195\u2013682 retained. Visible chain links only; exclude loop interior/table, shadows and right fingers. Own converted frame 194."
+    },
+    {
+      "serial": "23007103",
+      "instance": "hand_A",
+      "t": 0,
+      "points": [
+        [
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+          320
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+        [
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+        [
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+        [
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+      "labels": [
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+        1,
+        1,
+        1,
+        1,
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+        0,
+        0,
+        0
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+      "box": [
+        936,
+        278,
+        1152,
+        472
+      ],
+      "note": "Agent draft only; original anchor window 195\u2013682 retained. Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, black sleeve, chain and background between pinching fingers."
+    },
+    {
+      "serial": "23007103",
+      "instance": "occluder",
+      "t": 0,
+      "points": [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+      "box": [
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+      ],
+      "note": "Agent draft only; original anchor window 195\u2013682 retained. All visible person pixels: cropped torso, both sleeves, active right forearm/hand and left hand resting at table edge; exclude robot and chain."
+    },
+    {
+      "serial": "23007103",
+      "instance": "hand_B",
+      "t": 0,
+      "absence_stop": 489,
+      "note": "Agent draft absence over [0,489): only right bracelet hand_A participates; visible resting left hand belongs in occluder. Original anchor window 195\u2013682, no 679 shortening. Not owner-reviewed."
+    }
+  ]
+}

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/cameras/23007103/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_233144_367389",
+  "--anchor-serial",
+  "23007103",
+  "--start-timestamp-ns",
+  "1790047936241908049",
+  "--end-timestamp-ns",
+  "1790047952565160839",
+  "--expected-visible-hands-or-arms",
+  "1",
+  "--object-description",
+  "bike chain",
+  "--controller-description",
+  "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A",
+  "--notes",
+  "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start: hand enters ~179; fingertips reach the near/lower-left strand at ~193 and are on it by 195 in 17736741, 12540311 and 12933256 (start_17736741_stride1_176-200.jpg, boundary_start_a195.jpg). End: after put-down the hand holds the chain end static on the table through 682; at 683 the hand moves away (blur) and by 684 a gap is visible and the formerly covered chain end is exposed (end_12540311_stride1_672-696.jpg).",
+  "--output-path",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/23007103/phystwin_window.yaml"
+]

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/native/phystwin_window.yaml

@@ -0,0 +1,86 @@
+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233144_367389
+  session_id: session_20260921_233144_367389
+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_233144_367389
+    --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: 33448686
+  fps_estimate: 29.896541
+manual_annotation:
+  start_global_timestamp_ns: 1790047936258160741
+  end_global_timestamp_ns: 1790047952548333550
+  start_condition: hand_or_forearm_visible_and_in_contact_with_object
+  end_condition: before_release_or_contact_break
+  expected_visible_hands_or_arms: 1
+  object_description: bike chain
+  controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left
+    hand. Participating: hand_A'
+  annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed
+    interaction. Start: hand enters ~179; fingertips reach the near/lower-left strand
+    at ~193 and are on it by 195 in 17736741, 12540311 and 12933256 (start_17736741_stride1_176-200.jpg,
+    boundary_start_a195.jpg). End: after put-down the hand holds the chain end static
+    on the table through 682; at 683 the hand moves away (blur) and by 684 a gap is
+    visible and the formerly covered chain end is exposed (end_12540311_stride1_672-696.jpg).'
+resolved_window:
+  start_sync_index: 194
+  end_sync_index_exclusive: 682
+  start_anchor_timestamp_ns: 1790047936258160741
+  end_anchor_timestamp_ns: 1790047952548333550
+  frame_count: 488
+  duration_s: 16.290173
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 195
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936258160741
+    end_source_timestamp_ns: 1790047952548333550
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '12933256':
+    start_source_frame_index: 195
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936272228843
+    end_source_timestamp_ns: 1790047952560414319
+    start_delta_ns: 14068102
+    end_delta_ns: 12080769
+  '17736741':
+    start_source_frame_index: 195
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936262951519
+    end_source_timestamp_ns: 1790047952553292656
+    start_delta_ns: 4790778
+    end_delta_ns: 4959106
+  '23007103':
+    start_source_frame_index: 194
+    end_source_frame_index_exclusive: 683
+    start_source_timestamp_ns: 1790047936241908049
+    end_source_timestamp_ns: 1790047952565160839
+    start_delta_ns: -16252692
+    end_delta_ns: 16827289
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 16827289
+  warnings:
+  - '23007103: end camera delta 16827289 ns exceeds half period 16724343 ns'
+created_by: manual
+created_at: '2026-10-27T19:30:47+00:00'
+updated_at: '2026-10-27T19:30:47+00:00'
+

sessions/session_20260921_233144_367389/preprocessing/mask-supplier-window-anchor0195-0682/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_233144_367389",
+  "--anchor-serial",
+  "12540311",
+  "--start-timestamp-ns",
+  "1790047936258160741",
+  "--end-timestamp-ns",
+  "1790047952548333550",
+  "--expected-visible-hands-or-arms",
+  "1",
+  "--object-description",
+  "bike chain",
+  "--controller-description",
+  "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A",
+  "--notes",
+  "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start: hand enters ~179; fingertips reach the near/lower-left strand at ~193 and are on it by 195 in 17736741, 12540311 and 12933256 (start_17736741_stride1_176-200.jpg, boundary_start_a195.jpg). End: after put-down the hand holds the chain end static on the table through 682; at 683 the hand moves away (blur) and by 684 a gap is visible and the formerly covered chain end is exposed (end_12540311_stride1_672-696.jpg).",
+  "--output-path",
+  "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/phystwin_window.yaml"
+]