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a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log +++ /dev/null @@ -1 +0,0 @@ -colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/colors.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json deleted file mode 100644 index 9b5d0b98189a022c7028cfc13f69ea5f5f0d850d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "argv": [ - 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-compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -fit: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/fit.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json deleted file mode 100644 index 847e23efefce3234433d9f6b594c3f452bea9acd..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json +++ /dev/null @@ -1,24 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "fit", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", - "--outlier-filter", - "statistical:20:2.0", - "--max-rounds", - "400", - "--reprojection-weight", - "8.0", - "--baseline-run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "--chain-curvature-weight", - "5e-09", - "--chain-control-count", - "18" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:47:30.707506+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json deleted file mode 100644 index 3f2121429021e48400ee1cc67c0c0301192abd94..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 22.3409200120077, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log b/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log deleted file mode 100644 index 86af4c4f7f147e6588586869054ea17f08a56ed5..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log +++ /dev/null @@ -1 +0,0 @@ -hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/hybrid.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json deleted file mode 100644 index 0be497567adceb0f601ed5cee2e149f5f97f6aa8..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "hybrid", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:48:00.678478+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json deleted file mode 100644 index 3bfbc4c841325ef04005551b86f4fd90fd142c43..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 2.239711971997167, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log b/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log deleted file mode 100644 index c047bc2c860e398571dc292e72df5bfe59c7c54a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log +++ /dev/null @@ -1 +0,0 @@ -/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/manifest.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json deleted file mode 100644 index 79e328a27c6425c7c0d9895e01ca43f3a0012c89..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "argv": [ - 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a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 1.3284518050058978, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log b/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log deleted file mode 100644 index 20d95cdae311ee2415f3c2e7ac12f0d4ef452fa7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log +++ /dev/null @@ -1 +0,0 @@ -review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/review.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json deleted file mode 100644 index ae69b7381ba4b003050e1df047efa48a7c251574..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", 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a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1.log deleted file mode 100644 index 92df872e32d09d9cdd68fc3f8e42052ccacd8686..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1.log +++ /dev/null @@ -1,57 +0,0 @@ -Found metadata.json file, assuming customized QQTT dataset! [28/10 18:19:33] -Init points from pcd... [28/10 18:19:33] -Init points from mesh... [28/10 18:19:33] -Loading Training Cameras [28/10 18:19:33] -Loading Test Cameras [28/10 18:19:33] -Number of points at initialisation : 132034 [28/10 18:19:33] -Sampling 100000 points from mesh [28/10 18:19:33] -{ - "cameras": [ - { - "id": 0, - "width": 1920, - "height": 1080, - "object_px": 11400, - "occlusion_px": 79286, - "valid_depth_px": 1983413, - "boundary_px": 3779, - "projection_max_error_px": 2.2753754739958987e-05 - }, - { - "id": 1, - "width": 1920, - "height": 1080, - "object_px": 12603, - "occlusion_px": 128854, - "valid_depth_px": 2025969, - "boundary_px": 3448, - "projection_max_error_px": 1.2276666412200493e-06 - }, - { - "id": 2, - "width": 1920, - "height": 1080, - "object_px": 11572, - "occlusion_px": 240159, - "valid_depth_px": 1987227, - "boundary_px": 3623, - "projection_max_error_px": 4.697420033239479e-06 - }, - { - "id": 3, - "width": 1920, - "height": 1080, - "object_px": 7534, - "occlusion_px": 185872, - "valid_depth_px": 1905834, - "boundary_px": 2496, - "projection_max_error_px": 3.4817478249200932e-06 - } - ], - "hybrid": { - "vertex_color_branch": true, - "mesh": 103680, - "observed": 28354, - "total": 132034 - } -} [28/10 18:19:34] diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1_argv.json deleted file mode 100644 index 5ebd39a0bc5e5576531385d4e51e14e813a0c34c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1_argv.json +++ /dev/null @@ -1,18 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_gs_train_env/.venv/bin/python", - "scripts/real_rgbd_appearance_train.py", - "check", - "--prior", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "--accepted-prior-manifest-sha256", - "842c178d2d9cd431a24be02ddbbd6af47a1f1879f97c67123ba658de7f8c9142", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/appearance_check_v1" - ], - "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027", - "environment": { - "PYTHONDONTWRITEBYTECODE": "1", - "MPLBACKEND": "Agg" - } -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1_result.json deleted file mode 100644 index 00888549847dbace4435e26b26a375a3e1900fd6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 2.7976401220075786 -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_review_v1.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_review_v1.log deleted file mode 100644 index cc701bd880a9fc6854d81767521061fab5740c18..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_review_v1.log +++ /dev/null @@ -1,32 +0,0 @@ -/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_gs_train_env/.venv/lib/python3.10/site-packages/torch/utils/cpp_extension.py:1965: UserWarning: TORCH_CUDA_ARCH_LIST is not set, all archs for visible cards are included for compilation. -If this is not desired, please set os.environ['TORCH_CUDA_ARCH_LIST']. - warnings.warn( -Found metadata.json file, assuming customized QQTT dataset! [28/10 18:23:14] -Init points from pcd... [28/10 18:23:14] -Init points from mesh... [28/10 18:23:14] -Loading Training Cameras [28/10 18:23:15] -Loading Test Cameras [28/10 18:23:15] -Number of points at initialisation : 132034 [28/10 18:23:15] -Sampling 100000 points from mesh [28/10 18:23:15] -Loading trained model at iteration 7000 [28/10 18:23:17] [28/10 18:23:17] -Found metadata.json file, assuming customized QQTT dataset! [28/10 18:23:17] [28/10 18:23:17] -Init points from pcd... [28/10 18:23:17] [28/10 18:23:17] -Init points from mesh... [28/10 18:23:17] [28/10 18:23:17] -Loading Training Cameras [28/10 18:23:17] [28/10 18:23:17] -Loading Test Cameras [28/10 18:23:17] [28/10 18:23:17] -Sampling 100000 points from mesh [28/10 18:23:17] [28/10 18:23:17] -Loading trained model at iteration 10000 [28/10 18:23:19] [28/10 18:23:19] [28/10 18:23:19] -Found metadata.json file, assuming customized QQTT dataset! [28/10 18:23:19] [28/10 18:23:19] [28/10 18:23:19] -Init points from pcd... [28/10 18:23:19] [28/10 18:23:19] [28/10 18:23:19] -Init points from mesh... [28/10 18:23:19] [28/10 18:23:19] [28/10 18:23:19] -Loading Training Cameras [28/10 18:23:19] [28/10 18:23:19] [28/10 18:23:19] -Loading Test Cameras [28/10 18:23:19] [28/10 18:23:19] [28/10 18:23:19] -Sampling 100000 points from mesh [28/10 18:23:20] [28/10 18:23:20] [28/10 18:23:20] -{ - "snapshots": [ - "0", - "7000", - "10000" - ], - "review": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/appearance_train_v1/review" -} [28/10 18:23:26] [28/10 18:23:26] [28/10 18:23:26] diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_review_v1_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_review_v1_argv.json deleted file mode 100644 index 3685c1e36614a29e898e227f6c17fbc99f202230..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_review_v1_argv.json +++ /dev/null @@ -1,13 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_gs_train_env/.venv/bin/python", - "scripts/real_rgbd_appearance_review.py", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/appearance_train_v1" - ], - "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027", - "environment": { - "PYTHONDONTWRITEBYTECODE": "1", - "MPLBACKEND": "Agg" - } -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_review_v1_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_review_v1_result.json deleted file mode 100644 index 991cc1382083b96a6dcca02998de7e13ffbdd001..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_review_v1_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 54.087846847003675 -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_train_v1.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_train_v1.log deleted file mode 100644 index 93628caa2d737c6d0ff7d3d9d1168519facc8cd7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/appearance_train_v1.log +++ /dev/null @@ -1,19 +0,0 @@ -Optimizing /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/appearance_train_v1/model -Output folder: /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/appearance_train_v1/model [28/10 18:20:18] -Found metadata.json file, assuming customized QQTT dataset! [28/10 18:20:18] -Init points from pcd... [28/10 18:20:18] -Init points from mesh... [28/10 18:20:18] -Loading Training Cameras [28/10 18:20:18] -Loading Test Cameras [28/10 18:20:18] -Number of points at initialisation : 132034 [28/10 18:20:18] -Sampling 100000 points from mesh [28/10 18:20:19] - Training progress: 0%| | 0/10000 [00:00 /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/colors.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json deleted file mode 100644 index 293ecab18f83d840c0ca7f5839e6df72da512f04..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "colors", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1" - ], - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:27:22.191006+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json deleted file mode 100644 index 109c08fac89626a9fbc705beea597b7a9ad4ccd9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 2.6509459018707275, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_complete.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_complete.json deleted file mode 100644 index 92b249a77eb846b6da9febe755ad4a6604bc4452..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_complete.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "phase": "prior", - "completed_utc": "2026-10-28T21:27:40.435317+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth.log deleted file mode 100644 index b1fdbb0658896f4b766ea15f9433f2c0f3592aa5..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth.log +++ /dev/null @@ -1 +0,0 @@ -diagnose-depth: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/diagnose-depth.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json deleted file mode 100644 index 9a112ed45a7b8c896caa65c1fa0a4c902411c43e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "diagnose-depth", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1" - ], - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:26:53.551757+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json deleted file mode 100644 index 647643e419fed3ed61e13f9f7b6b707ea1fa76b1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 1.5871577262878418, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log deleted file mode 100644 index 78b796226e21cd3c5d958a210ee51ecee557fc6f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log +++ /dev/null @@ -1,43 +0,0 @@ -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -fit: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/fit.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json deleted file mode 100644 index 471ad4b6c43376aa934ba65828050dbc41137b30..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json +++ /dev/null @@ -1,22 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "fit", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1", - "--outlier-filter", - "statistical:20:2.0", - "--max-rounds", - "400", - "--reprojection-weight", - "4" - ], - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:26:55.141019+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json deleted file mode 100644 index 8c866c7c7120030e80311391379e70ccbf429728..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 22.02327036857605, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log deleted file mode 100644 index 4a38240c601a0667df474c86f3f2270e9a735fee..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log +++ /dev/null @@ -1 +0,0 @@ -hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/hybrid.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json deleted file mode 100644 index 649230a06a5debb1382648425bb6ceb2f5e32871..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "hybrid", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1" - ], - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:27:24.845268+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json deleted file mode 100644 index f0f9261a6f0aae99745f30cb554c32f2e58187da..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 2.2828211784362793, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log deleted file mode 100644 index 9eb009347d102f32504f045bf5a9bae6483dedbb..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log +++ /dev/null @@ -1 +0,0 @@ -inputs: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/inputs.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json deleted file mode 100644 index 371f6cc5c5b2ccd1f738efa0e19a90b2350f2bb2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json +++ /dev/null @@ -1,29 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "inputs", - "--result-root", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428", - "--object", - "bike_chain", - "--unfitted-inputs", - "--fitting-bundle", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/rt3_lifts/fitting/fitting_observations.npz", - "--frames-bundle", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json", - "--depth-source", - "waft_stereo_dav2l5", - "--mask-erosion-px", - "2", - "--out", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1" - ], - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:26:30.283672+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json deleted file mode 100644 index d1255207a90443c81a17338af9ba7f3c1f24f52e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 23.193474531173706, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log deleted file mode 100644 index ba0351bad0efeb0e08c22ce3c9dbfd606a0d6d1c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log +++ /dev/null @@ -1 +0,0 @@ -/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1/manifest.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json deleted file mode 100644 index 572a9b9ab063a8207b2d801c776419748679ce14..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "manifest", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1" - ], - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:27:39.116388+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json deleted file mode 100644 index 64936c03455ac7da9e925b779938041b6fb9654d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 1.3167037963867188, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log deleted file mode 100644 index 252ea9d4d2bfc89f5bfe9ad501f87169bcf49417..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log +++ /dev/null @@ -1 +0,0 @@ -review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/review.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json deleted file mode 100644 index 4fd52e5421c2d54423a1f934e765a57e9191e910..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "review", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1" - ], - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:27:27.136745+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json deleted file mode 100644 index 19d6cc0cd923e470aff9aa59ea776467bbbd0618..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 11.970692873001099, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log deleted file mode 100644 index e3bef97479fe5074e75fb5f4a6a75cb095e6dece..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log +++ /dev/null @@ -1 +0,0 @@ -tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/tube.json diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_argv.json deleted file mode 100644 index a6e2b4aca12897b5bf23d83634b043c33513231a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_argv.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "argv": [ - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "tube", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1" - ], - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:27:17.170728+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json deleted file mode 100644 index ed456686ea896aef653a4b672b6f52bf8f2b6e2f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 5.017700433731079, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_complete.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_complete.json deleted file mode 100644 index 3f6c4d49df9669e1a0468d8ec8741b77267b93f0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_complete.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "phase": "reference", - "completed_utc": "2026-10-28T21:01:25.822862+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_argv.json deleted file mode 100644 index 755654d0ff1117fe3d50c9c1a942c0f385fc99b2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_argv.json +++ /dev/null @@ -1,33 +0,0 @@ -{ - "argv": [ - "flock", - "-x", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/prepare_rt3_lifting.py", - "--result-root", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428", - "--selected-session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232950_841214", - "--selected-frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json", - "--tap-tracks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/tapnextpp_tracks", - "--cotracker-tracks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/query_tracks", - "--support-rule", - "rt_d7_depth_consistency_v1", - "--observations-only", - "--participating-hand", - "hand_A", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/rt3_lifts" - ], - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T20:58:07.599079+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_result.json deleted file mode 100644 index 59d2c48ea6ef3b3eade7580a9bb227f0830a990d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 115.89940929412842, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks.log deleted file mode 100644 index a41469b413a8777b40e3dda8e1abc9aaf662162c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks.log +++ /dev/null @@ -1,8 +0,0 @@ -12540311: tracked 5000 queries -12933256: tracked 5000 queries -17736741: tracked 5000 queries -23007103: tracked 5000 queries -12540311: members {'object': 1362, 'hand_A': 3601, 'hand_B': 0} -12933256: members {'object': 1399, 'hand_A': 3542, 'hand_B': 0} -17736741: members {'object': 1665, 'hand_A': 3296, 'hand_B': 0} -23007103: members {'object': 1856, 'hand_A': 3062, 'hand_B': 0} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks_argv.json deleted file mode 100644 index d7a51454b269ea38201dc9553ecf782d2eb7a2f4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks_argv.json +++ /dev/null @@ -1,29 +0,0 @@ -{ - "argv": [ - "flock", - "-x", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", - "uv", - "run", - "--no-sync", - "python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/phystwin_real_rgbd.py", - "track", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232950_841214", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/per_camera_inputs.json", - "--checkpoint", - "/mnt/data0/magna/.cache/torch/hub/checkpoints/scaled_online.pth", - "--seed", - "20260923", - "--device", - "cuda", - "--output", - 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a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_query_tracks_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 352.5413007736206, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_review.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_review.log deleted file mode 100644 index 56e1e4cbb501101bc26f4209390b0308461ac77f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_review.log +++ /dev/null @@ -1,33 +0,0 @@ -12540311: diagnostics 0/208 -12540311: diagnostics 100/208 -12540311: diagnostics 200/208 -12540311: diagnostics 208/208 -12540311: visual frame 0/208 -12540311: visual frame 100/208 -12540311: 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a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks.log deleted file mode 100644 index 5eba793c1dc843b42e70b60dd3b29782042a59d4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks.log +++ /dev/null @@ -1,6 +0,0 @@ -/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/lib/python3.11/site-packages/torch/functional.py:505: UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. 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"returncode": 0, - "elapsed_s": 176.33710587900714 -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/AGENT_FINDINGS.md b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/AGENT_FINDINGS.md deleted file mode 100644 index 7bddb0defd1796b14c99612153dba055385d00c8..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/AGENT_FINDINGS.md +++ /dev/null @@ -1,31 +0,0 @@ -# 232950 lower curvature prior review - -Agent numerical checks and visual inspection are complete. **Owner prior selection remains pending; all old chain-prior acceptances remain revoked.** This review does not authorize appearance, mechanics or push attachment. - -The six saved stages returned zero and full-prior completion exists. One package/check ran under the shared absolute resource lock and returned zero. The requested control count, curvature weight and reprojection weight match the catalog; all other fit settings match the designated M18 baseline. All 27 true input files are byte-identical to that baseline. The baseline fit and manifest are unchanged, the reviewed fit is unchanged, and derived geometry was excluded from input copying. The final Gaussian-data GLB equals this candidate's newly generated tube GLB. - -All seven saved array families are finite. The radius is 4.75 mm with maximum recomputed radial error 1.54e-08 m. Geometry has 144 rings, 1728 vertices and 3456 triangles; saved checks report one watertight consistently wound component and no confirmed self-intersection. Colors are in [0,1], with 1261 observed and 467 filled vertices. Hybrid counts are 28,354 observed + 103,680 mesh = 132,034; observed points and colors exactly match the filtered cloud. - -Actually inspected **21 stable panels plus nine sampled orbit frames** (0, 4, 9, 13, 18, 22, 26, 31, 35). The full file list and observations are in [agent_visual_review.json](agent_visual_review.json); numerical checks are in [numeric_prior_review.json](numeric_prior_review.json). - -- The four native-input sheets show a largely visible closed chain loop lying on the wooden tabletop, with a finger touching one side. The object mask follows the loop and the magenta hand/occluder union covers the finger rather than the chain interior. -- All four centerline panels place the yellow curve within the visible cyan object band. The closed loop is continuous through the finger-contact area. Corners and individual links remain smoothed by the continuous spline/tube approximation. -- The four unmasked red tube silhouettes follow the visible loop closely at the displayed scale. Small edge differences remain at sharp link corners; there is no gross shift, open seam, detached component or loop crossing apparent. -- Scale views, 3D fit, tube profiles and all nine sampled orbit frames show one shallow tabletop loop. The side and oblique profile displays expand the vertical axis; their apparent height must not be read as equal-axis physical scale. -- The color coverage panel places most median-filled vertices on the unseen underside. The hybrid panel overlays the dense mesh population around the same observed loop without a detached population. -- Residual histograms have finite tails beyond the 10 mm reference, strongest in camera 23007103; those are depth-point-to-centerline distances, not surface reconstruction errors. The 8.5–11.9 mm per-camera depth-offset plot is a read-only diagnostic, not an applied shift. -- The saved round-curves figure has blank line traces because only one round is saved without point markers. The numerical record explicitly supplies that round, its gradient norm and gradient_tolerance stop. -- The saved/recomputed tube minimum world z is +0.109266 mm. The review does not establish physical contact or push attachment. - -| Saved diagnostic | Baseline | Lower curvature | Stronger reprojection | -|---|---:|---:|---:| -| Mean 3D point-to-centerline residual (mm) | 6.646409 | 6.649388 | 7.169829 | -| Mean of view means, mask-to-centerline reprojection (mm) | 3.519716 | 3.515066 | 3.397751 | -| Length (mm) | 586.567342 | 586.659193 | 587.861836 | -| Excess over soft upper length bound (mm) | 1.567364 | 1.659214 | 2.861857 | -| Maximum curvature (1/m) | 51.813637 | 52.856895 | 59.560925 | -| Minimum tube world z (mm) | 0.097131 | 0.109266 | -0.814239 | - -Lower curvature changes this case only slightly: reprojection improves by 0.004650 mm while the mean 3D centerline residual rises by 0.002979 mm. Stronger reprojection reduces the common reprojection diagnostic by 0.121965 mm, while increasing the mean 3D centerline residual by 0.523420 mm, length by 1.294494 mm, and maximum curvature by 7.747288/m. All three retain 100% of visible centerline samples inside the mask in each view. These are descriptive diagnostics, not silhouette IoU, reconstruction ground truth, or an acceptance decision. Total weighted objectives are not ranked because the weights differ. - -Both candidates stopped after one recorded round at gradient tolerance. This candidate has gradient norm 7.23095945e-05. Saved weighted total losses are not compared across changed weights. diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md deleted file mode 100644 index fa4051ca81dce0761489c4a6bcb2104775e8e70c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md +++ /dev/null @@ -1,39 +0,0 @@ -# session_20260921_232950_841214 — prior approval pending - -Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual inspection and numerical checks are complete; owner prior approval remains pending. [Agent findings](AGENT_FINDINGS.md) document 21 inspected panels and nine sampled orbit frames. All old chain-prior acceptances remain revoked; this packet records no acceptance. - -Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](). - -| Camera | Local / converted / native | Centerline / geometry / native input | -|---|---|---| -| 12540311 | 0 / 220 / 221 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_0_12540311.png>) | -| 12933256 | 1 / 220 / 221 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_1_12933256.png>) | -| 17736741 | 0 / 219 / 220 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_2_17736741.png>) | -| 23007103 | 0 / 220 / 221 | [centerline](<../prior_chain_lower_curvature_v2/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_chain_lower_curvature_v2/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_chain_lower_curvature_v2/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_chain_lower_curvature_v2/review/inputs/view_3_23007103.png>) | - -[Full rotation video](<../prior_chain_lower_curvature_v2/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_chain_lower_curvature_v2/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_chain_lower_curvature_v2/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_chain_lower_curvature_v2/review/inputs/depth_offset.png>) - -Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **586.659 mm**, maximum curvature **52.857/m**, final gradient norm **7.23096e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 1.659 mm. - -Saved geometry checks report `passed=True`: **1728 mesh vertices / 3456 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_chain_lower_curvature_v2/tube/tube_checks.json>). - -The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. - -| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence | -|---|---|---|---| -| 12540311 | 6.470 / 9.729 | 100.00% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) | -| 12933256 | 5.716 / 8.148 | 100.00% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) | -| 17736741 | 6.669 / 9.715 | 100.00% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) | -| 23007103 | 8.091 / 11.774 | 100.00% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) | - -The saved statistical filter used 20 neighbours / 2 sigma and kept **28354 of 29763** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. - -Appearance initialization contains **28354 observed + 103680 mesh-derived = 132034 seeds**. Vertex colors are observed for 1261 mesh vertices and median-filled for 467. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages. - -[Appearance seed populations](<../prior_chain_lower_curvature_v2/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_chain_lower_curvature_v2/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>) - -[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>) - -[Manifest](<../prior_chain_lower_curvature_v2/manifest.json>) · [Fit settings and metrics](<../prior_chain_lower_curvature_v2/steps/fit.json>) · [Reference observations](<../prior_chain_lower_curvature_v2/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) - -A reviewer must inspect the linked overlays, rotation and observation evidence before writing an agent findings record. Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here. diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_visual_review.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_visual_review.json deleted file mode 100644 index bb329faa6ff58cda4a7e2cfe466dbfae5f124dbb..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_visual_review.json +++ /dev/null @@ -1,169 +0,0 @@ -{ - "case_id": "232950", - "candidate": "lower_curvature", - "created_utc": "2026-10-28T22:53:47.858339+00:00", - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2", - "scope": "Saved-artifact numerical and visual review only. No fit, sampling, scientific correction, dependent launch or approval.", - "panel_count": 21, - "actually_inspected_panels_relative_to_run": [ - "review/inputs/view_0_12540311.png", - "review/inputs/view_1_12933256.png", - "review/inputs/view_2_17736741.png", - "review/inputs/view_3_23007103.png", - "review/spline/centerline_0_with_masks.png", - "review/spline/centerline_1_with_masks.png", - "review/spline/centerline_2_with_masks.png", - "review/spline/centerline_3_with_masks.png", - "review/tube/silhouette_0_unmasked.png", - "review/tube/silhouette_1_unmasked.png", - "review/tube/silhouette_2_unmasked.png", - "review/tube/silhouette_3_unmasked.png", - "review/tube/tube_scale_views.png", - "review/spline/residual_histograms.png", - "review/inputs/depth_offset.png", - "review/colors/visibility_and_fill.png", - "review/hybrid/combined.png", - "review/spline/fit_3d.png", - "review/spline/curvature_profile.png", - "review/spline/round_curves.png", - "review/tube/tube_profiles.png" - ], - "orbit_frame_count": 9, - "actually_inspected_orbit_indices": [ - 0, - 4, - 9, - 13, - 18, - 22, - 26, - 31, - 35 - ], - "actually_inspected_orbit_frames_relative_to_review": [ - "orbit_frames/frame_000.png", - "orbit_frames/frame_004.png", - "orbit_frames/frame_009.png", - "orbit_frames/frame_013.png", - "orbit_frames/frame_018.png", - "orbit_frames/frame_022.png", - "orbit_frames/frame_026.png", - "orbit_frames/frame_031.png", - "orbit_frames/frame_035.png" - ], - "orbit_scope": "Nine sampled direct frames from the saved 36-frame, 12 fps video; no continuous-playback claim.", - "visual_observations": [ - "The four native-input sheets show a largely visible closed chain loop lying on the wooden tabletop, with a finger touching one side. The object mask follows the loop and the magenta hand/occluder union covers the finger rather than the chain interior.", - "All four centerline panels place the yellow curve within the visible cyan object band. The closed loop is continuous through the finger-contact area. Corners and individual links remain smoothed by the continuous spline/tube approximation.", - "The four unmasked red tube silhouettes follow the visible loop closely at the displayed scale. Small edge differences remain at sharp link corners; there is no gross shift, open seam, detached component or loop crossing apparent.", - "Scale views, 3D fit, tube profiles and all nine sampled orbit frames show one shallow tabletop loop. The side and oblique profile displays expand the vertical axis; their apparent height must not be read as equal-axis physical scale.", - "The color coverage panel places most median-filled vertices on the unseen underside. The hybrid panel overlays the dense mesh population around the same observed loop without a detached population.", - "Residual histograms have finite tails beyond the 10 mm reference, strongest in camera 23007103; those are depth-point-to-centerline distances, not surface reconstruction errors. The 8.5\u201311.9 mm per-camera depth-offset plot is a read-only diagnostic, not an applied shift.", - "The saved round-curves figure has blank line traces because only one round is saved without point markers. The numerical record explicitly supplies that round, its gradient norm and gradient_tolerance stop.", - "The saved/recomputed tube minimum world z is +0.109266 mm. The review does not establish physical contact or push attachment." - ], - "numerical_review": "passed; see numeric_prior_review.json", - "source_fit_unchanged_during_review": true, - "owner_prior_approval": "pending; all old chain-prior acceptances revoked", - "dependent_appearance_or_mechanics": "not authorized by this review", - "comparison": { - "case_id": "232950", - "created_utc": "2026-10-28T22:53:47.858076+00:00", - "scope": "Both owner-requested saved full-prior candidates compared with the designated M18 baseline. No science or approval was changed.", - "settings": { - "baseline": { - "control_count": 18, - "lambda_curvature_cost": 5e-09, - "reprojection_weight": 4 - }, - "lower_curvature": { - "control_count": 18, - "lambda_curvature_cost": 5e-10, - "reprojection_weight": 4 - }, - "stronger_reprojection": { - "control_count": 18, - "lambda_curvature_cost": 5e-09, - "reprojection_weight": 8 - } - }, - "metrics": { - "baseline": { - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "mean_3d_centerline_residual_mm": 6.646408739663102, - "mean_of_view_mean_reprojection_mm": 3.5197158020963486, - "length_mm": 586.5673422813416, - "soft_length_excess_mm": 1.5673637390136719, - "max_curvature_per_m": 51.813636779785156, - "world_z_min_mm": 0.09713135659694672, - "visible_centerline_inside_mask_fraction_by_view": [ - 1.0, - 1.0, - 1.0, - 1.0 - ], - "color_observed": 1267, - "color_filled": 461, - "rounds": 1, - "stop": "gradient_tolerance", - "grad_norm": 8.655890269437805e-05 - }, - "lower_curvature": { - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2", - "mean_3d_centerline_residual_mm": 6.649387791653478, - "mean_of_view_mean_reprojection_mm": 3.515065671136249, - "length_mm": 586.6591930389404, - "soft_length_excess_mm": 1.6592144966125488, - "max_curvature_per_m": 52.856895446777344, - "world_z_min_mm": 0.1092664897441864, - "visible_centerline_inside_mask_fraction_by_view": [ - 1.0, - 1.0, - 1.0, - 1.0 - ], - "color_observed": 1261, - "color_filled": 467, - "rounds": 1, - "stop": "gradient_tolerance", - "grad_norm": 7.230959454318509e-05, - "deltas_from_baseline": { - "mean_3d_centerline_residual_mm": 0.002979051990375403, - "mean_of_view_mean_reprojection_mm": -0.0046501309600994745, - "length_mm": 0.09185075759887695, - "max_curvature_per_m": 1.0432586669921875, - "world_z_min_mm": 0.012135133147239685 - } - }, - "stronger_reprojection": { - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", - "mean_3d_centerline_residual_mm": 7.169828793246598, - "mean_of_view_mean_reprojection_mm": 3.3977509050659647, - "length_mm": 587.8618359565735, - "soft_length_excess_mm": 2.8618574142456055, - "max_curvature_per_m": 59.5609245300293, - "world_z_min_mm": -0.8142387960106134, - "visible_centerline_inside_mask_fraction_by_view": [ - 1.0, - 1.0, - 1.0, - 1.0 - ], - "color_observed": 1260, - "color_filled": 468, - "rounds": 1, - "stop": "gradient_tolerance", - "grad_norm": 9.883438906399533e-05, - "deltas_from_baseline": { - "mean_3d_centerline_residual_mm": 0.5234200535834956, - "mean_of_view_mean_reprojection_mm": -0.12196489703038393, - "length_mm": 1.2944936752319336, - "max_curvature_per_m": 7.747287750244141, - "world_z_min_mm": -0.9113701526075602 - } - } - }, - "interpretation": "Lower curvature changes this case only slightly: reprojection improves by 0.004650 mm while the mean 3D centerline residual rises by 0.002979 mm. Stronger reprojection reduces the common reprojection diagnostic by 0.121965 mm, while increasing the mean 3D centerline residual by 0.523420 mm, length by 1.294494 mm, and maximum curvature by 7.747288/m. All three retain 100% of visible centerline samples inside the mask in each view. These are descriptive diagnostics, not silhouette IoU, reconstruction ground truth, or an acceptance decision. Total weighted objectives are not ranked because the weights differ.", - "owner_selection": "pending; all old chain-prior acceptances revoked" - } -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/numeric_prior_review.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/numeric_prior_review.json deleted file mode 100644 index f51b5c7692e6022cae78529b3b7d75ec165e4cbc..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/numeric_prior_review.json +++ /dev/null @@ -1,828 +0,0 @@ -{ - "job": { - "case_id": "232950", - "session_id": "session_20260921_232950_841214", - "case": 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}, - "max_rounds": 400, - "reprojection": { - "weight": 4.0, - "direction": "visible mask pixels to projected centerline", - "ribbon_twist_stage": null, - "mask": "accepted object outside hand/occluder union", - "view_aggregation": "equal view means", - "distance": "metric image plane using per-view median visible belt depth and fx/fy", - "samples": 360, - "huber_delta_m": 0.005, - "smooth_cap_m": 0.035, - "baseline_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - }, - "solver": { - "solver_type": "lbfgs", - "linesearch_type": "zoom", - "max_linesearch_steps": 10, - "grad_norm_tolerance": 0.0001, - "max_iter": 25 - }, - "ribbon_twist_refinement": null - }, - "fit": { - "stage1_rounds": 1, - "stage1_stop": "gradient_tolerance", - "stage1_final": null, - "twist": null, - "final": { - "loss": 5.286108353175223e-05, - "components": { - "distance": 2.0452447643037885e-05, - "curvature": 2.0037125736394046e-08, - "arclength": 2.7529927137948107e-07, - "mask_reprojection_2d": 3.2113297493197024e-05 - }, - "grad_norm": 7.230959454318509e-05, - "arclength_m": 0.5866591930389404, - "arclength_bound_active_within_1mm": true, - "max_curvature_per_m": 52.856895446777344, - "curvature_p50_p90_per_m": [ - 8.32268476486206, - 28.31008186340332 - ], - "curvature_above_max_fraction": 0.428, - "mean_distance_m": 0.006649387791653478, - "max_distance_m": 0.016683384776115417, - "beyond_2delta_fraction": 0.08922903294067856, - "at_cap_fraction": 0.0, - "per_view": [ - { - "view": 0, - "count": 7369, - "median_m": 0.006470195949077606, - "p90_m": 0.009728960692882538, - "max_m": 0.014144466258585453, - "beyond_2delta_fraction": 0.0822363957117655, - "at_cap_fraction": 0.0 - }, - { - "view": 1, - "count": 8997, - "median_m": 0.005716078914701939, - "p90_m": 0.00814751759171486, - "max_m": 0.01220659352838993, - "beyond_2delta_fraction": 0.024674891630543514, - "at_cap_fraction": 0.0 - }, - { - "view": 2, - "count": 7564, - "median_m": 0.006668831221759319, - "p90_m": 0.009714588988572359, - "max_m": 0.012523442506790161, - "beyond_2delta_fraction": 0.07958751983077737, - "at_cap_fraction": 0.0 - }, - { - "view": 3, - "count": 4424, - "median_m": 0.008090612012892962, - "p90_m": 0.01177388494834304, - "max_m": 0.016683384776115417, - "beyond_2delta_fraction": 0.24864376130198915, - "at_cap_fraction": 0.0 - } - ], - "round": 1, - "relative_loss_change": 0.9846800071931621 - }, - "arclength_soft_bounds_m": [ - 0.5830000042915344, - 0.5849999785423279 - ], - "arclength_outside_soft_bounds_m": 0.0016592144966125488 - }, - "geometry": { - "vertex_count": 1728, - "triangle_count": 3456, - "checks": { - "euler_characteristic": 0, - "watertight": true, - "components": 1, - "winding_consistent": true, - "signed_volume_m3": 3.968540749877111e-05, - "minimum_outward_normal_dot_m": 0.004571422517641802, - "degenerate_triangles": 0, - "self_intersecting": false, - "maximum_radius_error_m": 1.538040973053656e-08, - "maximum_diameter_error_m": 3.0745335256876505e-08, - "bishop_seam_error": 7.450580596923828e-09, - "minimum_nonadjacent_centerline_distance_m": 0.0065934003365090135, - "triangle_area_m2": { - "min": 3.075318879546329e-06, - "median": 5.041146862406791e-06, - "mean": 5.006663974811181e-06, - "max": 5.991369779447482e-06, - "density_max_over_min": 1.948210905638289 - }, - "bounds_m": [ - [ - -0.0007172124460339546, - -0.2739454507827759, - 0.0001092664897441864 - ], - [ - 0.20153018832206726, - -0.08717068284749985, - 0.010682681575417519 - ] - ], - "radius_m": 0.00475, - "step_t": 0.125, - "step_angle_deg": 30, - "overlap_rule": "surface_intersection", - "open3d_reported_intersecting_pairs": 0, - "confirmed_intersecting_pairs": [], - "passed": true, - "orientation_flipped": true - } - }, - "appearance_seed_counts": { - "observed": 28354, - "mesh": 103680, - "total": 132034, - "mesh_to_observed": 3.6566269309444874 - }, - "vertex_colors": { - "observed_vertices": 1261, - "filled_vertices": 467 - }, - "mechanical_population": { - "particle_count": null, - "total_unit_mass": null, - "status": "not produced by the prior run; no post-prior mechanics are evaluated here" - }, - "source_code": { - "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" - }, - "media": { - "full_rotation": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/review/tube/orbit.mp4", - "geometry_depth_cloud": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/review/tube/tube_scale_views.png", - "depth_offset_diagnostic": 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"/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/review/hybrid/combined.png", - "derived_coverage": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/derived/derived_coverage.png", - "derived_30hz_movie": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/derived/derived_30hz_xyz.mp4" - }, - "sources": { - "manifest": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/manifest.json", - "fit": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/fit.json", - "geometry_checks": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/tube/tube_checks.json", - "reference_views": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/inputs/reference_views.json", - "reprojection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/spline/reprojection.json", - "tracking_summary": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/summary.json", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json" - } -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/AGENT_FINDINGS.md b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/AGENT_FINDINGS.md deleted file mode 100644 index c4aaad674804a339e41ed9e11165784777b324ce..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/AGENT_FINDINGS.md +++ /dev/null @@ -1,31 +0,0 @@ -# 232950 stronger reprojection prior review - -Agent numerical checks and visual inspection are complete. **Owner prior selection remains pending; all old chain-prior acceptances remain revoked.** This review does not authorize appearance, mechanics or push attachment. - -The six saved stages returned zero and full-prior completion exists. One package/check ran under the shared absolute resource lock and returned zero. The requested control count, curvature weight and reprojection weight match the catalog; all other fit settings match the designated M18 baseline. All 27 true input files are byte-identical to that baseline. The baseline fit and manifest are unchanged, the reviewed fit is unchanged, and derived geometry was excluded from input copying. The final Gaussian-data GLB equals this candidate's newly generated tube GLB. - -All seven saved array families are finite. The radius is 4.75 mm with maximum recomputed radial error 1.3e-08 m. Geometry has 144 rings, 1728 vertices and 3456 triangles; saved checks report one watertight consistently wound component and no confirmed self-intersection. Colors are in [0,1], with 1260 observed and 468 filled vertices. Hybrid counts are 28,354 observed + 103,680 mesh = 132,034; observed points and colors exactly match the filtered cloud. - -Actually inspected **21 stable panels plus nine sampled orbit frames** (0, 4, 9, 13, 18, 22, 26, 31, 35). The full file list and observations are in [agent_visual_review.json](agent_visual_review.json); numerical checks are in [numeric_prior_review.json](numeric_prior_review.json). - -- The four native-input sheets show a largely visible closed chain loop lying on the wooden tabletop, with a finger touching one side. The object mask follows the loop and the magenta hand/occluder union covers the finger rather than the chain interior. -- All four centerline panels place the yellow curve within the visible cyan object band. The closed loop is continuous through the finger-contact area. Corners and individual links remain smoothed by the continuous spline/tube approximation. -- The four unmasked red tube silhouettes follow the visible loop closely at the displayed scale. Small edge differences remain at sharp link corners; there is no gross shift, open seam, detached component or loop crossing apparent. -- Scale views, 3D fit, tube profiles and all nine sampled orbit frames show one shallow tabletop loop. The side and oblique profile displays expand the vertical axis; their apparent height must not be read as equal-axis physical scale. -- The color coverage panel places most median-filled vertices on the unseen underside. The hybrid panel overlays the dense mesh population around the same observed loop without a detached population. -- Residual histograms have finite tails beyond the 10 mm reference, strongest in camera 23007103; those are depth-point-to-centerline distances, not surface reconstruction errors. The 8.5–11.9 mm per-camera depth-offset plot is a read-only diagnostic, not an applied shift. -- The saved round-curves figure has blank line traces because only one round is saved without point markers. The numerical record explicitly supplies that round, its gradient norm and gradient_tolerance stop. -- The expanded tube profile includes coordinates below z=0; saved/recomputed vertex bounds confirm minimum world z -0.814239 mm. No contact-plane assumption, geometry shift or mechanical acceptance was applied. - -| Saved diagnostic | Baseline | Lower curvature | Stronger reprojection | -|---|---:|---:|---:| -| Mean 3D point-to-centerline residual (mm) | 6.646409 | 6.649388 | 7.169829 | -| Mean of view means, mask-to-centerline reprojection (mm) | 3.519716 | 3.515066 | 3.397751 | -| Length (mm) | 586.567342 | 586.659193 | 587.861836 | -| Excess over soft upper length bound (mm) | 1.567364 | 1.659214 | 2.861857 | -| Maximum curvature (1/m) | 51.813637 | 52.856895 | 59.560925 | -| Minimum tube world z (mm) | 0.097131 | 0.109266 | -0.814239 | - -Lower curvature changes this case only slightly: reprojection improves by 0.004650 mm while the mean 3D centerline residual rises by 0.002979 mm. Stronger reprojection reduces the common reprojection diagnostic by 0.121965 mm, while increasing the mean 3D centerline residual by 0.523420 mm, length by 1.294494 mm, and maximum curvature by 7.747288/m. All three retain 100% of visible centerline samples inside the mask in each view. These are descriptive diagnostics, not silhouette IoU, reconstruction ground truth, or an acceptance decision. Total weighted objectives are not ranked because the weights differ. - -Both candidates stopped after one recorded round at gradient tolerance. This candidate has gradient norm 9.88343891e-05. Saved weighted total losses are not compared across changed weights. diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md deleted file mode 100644 index 07ba2fcaf9f0b53f58100dcb2e84e7a2f9ef3439..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md +++ /dev/null @@ -1,39 +0,0 @@ -# session_20260921_232950_841214 — prior approval pending - -Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual inspection and numerical checks are complete; owner prior approval remains pending. [Agent findings](AGENT_FINDINGS.md) document 21 inspected panels and nine sampled orbit frames. All old chain-prior acceptances remain revoked; this packet records no acceptance. - -Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](). - -| Camera | Local / converted / native | Centerline / geometry / native input | -|---|---|---| -| 12540311 | 0 / 220 / 221 | [centerline](<../prior_chain_stronger_reprojection_v2/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_chain_stronger_reprojection_v2/review/inputs/view_0_12540311.png>) | -| 12933256 | 1 / 220 / 221 | [centerline](<../prior_chain_stronger_reprojection_v2/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_chain_stronger_reprojection_v2/review/inputs/view_1_12933256.png>) | -| 17736741 | 0 / 219 / 220 | [centerline](<../prior_chain_stronger_reprojection_v2/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_chain_stronger_reprojection_v2/review/inputs/view_2_17736741.png>) | -| 23007103 | 0 / 220 / 221 | [centerline](<../prior_chain_stronger_reprojection_v2/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_chain_stronger_reprojection_v2/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_chain_stronger_reprojection_v2/review/inputs/view_3_23007103.png>) | - -[Full rotation video](<../prior_chain_stronger_reprojection_v2/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_chain_stronger_reprojection_v2/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_chain_stronger_reprojection_v2/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_chain_stronger_reprojection_v2/review/inputs/depth_offset.png>) - -Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **587.862 mm**, maximum curvature **59.561/m**, final gradient norm **9.88344e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 2.862 mm. - -Saved geometry checks report `passed=True`: **1728 mesh vertices / 3456 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_chain_stronger_reprojection_v2/tube/tube_checks.json>). - -The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. - -| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence | -|---|---|---|---| -| 12540311 | 7.209 / 10.553 | 100.00% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) | -| 12933256 | 6.118 / 8.468 | 100.00% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) | -| 17736741 | 7.373 / 10.446 | 100.00% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) | -| 23007103 | 8.625 / 12.134 | 100.00% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) | - -The saved statistical filter used 20 neighbours / 2 sigma and kept **28354 of 29763** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **8**. - -Appearance initialization contains **28354 observed + 103680 mesh-derived = 132034 seeds**. Vertex colors are observed for 1260 mesh vertices and median-filled for 468. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages. - -[Appearance seed populations](<../prior_chain_stronger_reprojection_v2/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_chain_stronger_reprojection_v2/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>) - -[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>) - -[Manifest](<../prior_chain_stronger_reprojection_v2/manifest.json>) · [Fit settings and metrics](<../prior_chain_stronger_reprojection_v2/steps/fit.json>) · [Reference observations](<../prior_chain_stronger_reprojection_v2/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) - -A reviewer must inspect the linked overlays, rotation and observation evidence before writing an agent findings record. Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here. diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_visual_review.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_visual_review.json deleted file mode 100644 index d17b2d6956497bb3e0960675683b60d719cd86f6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_visual_review.json +++ /dev/null @@ -1,169 +0,0 @@ -{ - "case_id": "232950", - "candidate": "stronger_reprojection", - "created_utc": "2026-10-28T22:53:47.858780+00:00", - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", - "scope": "Saved-artifact numerical and visual review only. No fit, sampling, scientific correction, dependent launch or approval.", - "panel_count": 21, - "actually_inspected_panels_relative_to_run": [ - "review/inputs/view_0_12540311.png", - "review/inputs/view_1_12933256.png", - "review/inputs/view_2_17736741.png", - "review/inputs/view_3_23007103.png", - "review/spline/centerline_0_with_masks.png", - "review/spline/centerline_1_with_masks.png", - "review/spline/centerline_2_with_masks.png", - "review/spline/centerline_3_with_masks.png", - "review/tube/silhouette_0_unmasked.png", - "review/tube/silhouette_1_unmasked.png", - "review/tube/silhouette_2_unmasked.png", - "review/tube/silhouette_3_unmasked.png", - "review/tube/tube_scale_views.png", - "review/spline/residual_histograms.png", - "review/inputs/depth_offset.png", - "review/colors/visibility_and_fill.png", - "review/hybrid/combined.png", - "review/spline/fit_3d.png", - "review/spline/curvature_profile.png", - "review/spline/round_curves.png", - "review/tube/tube_profiles.png" - ], - "orbit_frame_count": 9, - "actually_inspected_orbit_indices": [ - 0, - 4, - 9, - 13, - 18, - 22, - 26, - 31, - 35 - ], - "actually_inspected_orbit_frames_relative_to_review": [ - "orbit_frames/frame_000.png", - "orbit_frames/frame_004.png", - "orbit_frames/frame_009.png", - "orbit_frames/frame_013.png", - "orbit_frames/frame_018.png", - "orbit_frames/frame_022.png", - "orbit_frames/frame_026.png", - "orbit_frames/frame_031.png", - "orbit_frames/frame_035.png" - ], - "orbit_scope": "Nine sampled direct frames from the saved 36-frame, 12 fps video; no continuous-playback claim.", - "visual_observations": [ - "The four native-input sheets show a largely visible closed chain loop lying on the wooden tabletop, with a finger touching one side. The object mask follows the loop and the magenta hand/occluder union covers the finger rather than the chain interior.", - "All four centerline panels place the yellow curve within the visible cyan object band. The closed loop is continuous through the finger-contact area. Corners and individual links remain smoothed by the continuous spline/tube approximation.", - "The four unmasked red tube silhouettes follow the visible loop closely at the displayed scale. Small edge differences remain at sharp link corners; there is no gross shift, open seam, detached component or loop crossing apparent.", - "Scale views, 3D fit, tube profiles and all nine sampled orbit frames show one shallow tabletop loop. The side and oblique profile displays expand the vertical axis; their apparent height must not be read as equal-axis physical scale.", - "The color coverage panel places most median-filled vertices on the unseen underside. The hybrid panel overlays the dense mesh population around the same observed loop without a detached population.", - "Residual histograms have finite tails beyond the 10 mm reference, strongest in camera 23007103; those are depth-point-to-centerline distances, not surface reconstruction errors. The 8.5\u201311.9 mm per-camera depth-offset plot is a read-only diagnostic, not an applied shift.", - "The saved round-curves figure has blank line traces because only one round is saved without point markers. The numerical record explicitly supplies that round, its gradient norm and gradient_tolerance stop.", - "The expanded tube profile includes coordinates below z=0; saved/recomputed vertex bounds confirm minimum world z -0.814239 mm. No contact-plane assumption, geometry shift or mechanical acceptance was applied." - ], - "numerical_review": "passed; see numeric_prior_review.json", - "source_fit_unchanged_during_review": true, - "owner_prior_approval": "pending; all old chain-prior acceptances revoked", - "dependent_appearance_or_mechanics": "not authorized by this review", - "comparison": { - "case_id": "232950", - "created_utc": "2026-10-28T22:53:47.858076+00:00", - "scope": "Both owner-requested saved full-prior candidates compared with the designated M18 baseline. No science or approval was changed.", - "settings": { - "baseline": { - "control_count": 18, - "lambda_curvature_cost": 5e-09, - "reprojection_weight": 4 - }, - "lower_curvature": { - "control_count": 18, - "lambda_curvature_cost": 5e-10, - "reprojection_weight": 4 - }, - "stronger_reprojection": { - "control_count": 18, - "lambda_curvature_cost": 5e-09, - "reprojection_weight": 8 - } - }, - "metrics": { - "baseline": { - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "mean_3d_centerline_residual_mm": 6.646408739663102, - "mean_of_view_mean_reprojection_mm": 3.5197158020963486, - "length_mm": 586.5673422813416, - "soft_length_excess_mm": 1.5673637390136719, - "max_curvature_per_m": 51.813636779785156, - "world_z_min_mm": 0.09713135659694672, - "visible_centerline_inside_mask_fraction_by_view": [ - 1.0, - 1.0, - 1.0, - 1.0 - ], - "color_observed": 1267, - "color_filled": 461, - "rounds": 1, - "stop": "gradient_tolerance", - "grad_norm": 8.655890269437805e-05 - }, - "lower_curvature": { - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2", - "mean_3d_centerline_residual_mm": 6.649387791653478, - "mean_of_view_mean_reprojection_mm": 3.515065671136249, - "length_mm": 586.6591930389404, - "soft_length_excess_mm": 1.6592144966125488, - "max_curvature_per_m": 52.856895446777344, - "world_z_min_mm": 0.1092664897441864, - "visible_centerline_inside_mask_fraction_by_view": [ - 1.0, - 1.0, - 1.0, - 1.0 - ], - "color_observed": 1261, - "color_filled": 467, - "rounds": 1, - "stop": "gradient_tolerance", - "grad_norm": 7.230959454318509e-05, - "deltas_from_baseline": { - "mean_3d_centerline_residual_mm": 0.002979051990375403, - "mean_of_view_mean_reprojection_mm": -0.0046501309600994745, - "length_mm": 0.09185075759887695, - "max_curvature_per_m": 1.0432586669921875, - "world_z_min_mm": 0.012135133147239685 - } - }, - "stronger_reprojection": { - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", - "mean_3d_centerline_residual_mm": 7.169828793246598, - "mean_of_view_mean_reprojection_mm": 3.3977509050659647, - "length_mm": 587.8618359565735, - "soft_length_excess_mm": 2.8618574142456055, - "max_curvature_per_m": 59.5609245300293, - "world_z_min_mm": -0.8142387960106134, - "visible_centerline_inside_mask_fraction_by_view": [ - 1.0, - 1.0, - 1.0, - 1.0 - ], - "color_observed": 1260, - "color_filled": 468, - "rounds": 1, - "stop": "gradient_tolerance", - "grad_norm": 9.883438906399533e-05, - "deltas_from_baseline": { - "mean_3d_centerline_residual_mm": 0.5234200535834956, - "mean_of_view_mean_reprojection_mm": -0.12196489703038393, - "length_mm": 1.2944936752319336, - "max_curvature_per_m": 7.747287750244141, - "world_z_min_mm": -0.9113701526075602 - } - } - }, - "interpretation": "Lower curvature changes this case only slightly: reprojection improves by 0.004650 mm while the mean 3D centerline residual rises by 0.002979 mm. Stronger reprojection reduces the common reprojection diagnostic by 0.121965 mm, while increasing the mean 3D centerline residual by 0.523420 mm, length by 1.294494 mm, and maximum curvature by 7.747288/m. All three retain 100% of visible centerline samples inside the mask in each view. These are descriptive diagnostics, not silhouette IoU, reconstruction ground truth, or an acceptance decision. Total weighted objectives are not ranked because the weights differ.", - "owner_selection": "pending; all old chain-prior acceptances revoked" - } -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/numeric_prior_review.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/numeric_prior_review.json deleted file mode 100644 index 8b8e69588c9f9fca3d607b8e8a979e15ce1790ea..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/numeric_prior_review.json +++ /dev/null @@ -1,828 +0,0 @@ -{ - "job": { - "case_id": "232950", - "session_id": "session_20260921_232950_841214", - "case": 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- "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/review/inputs/view_3_23007103.png", - "native_rgb_depth_video": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/23007103/rgb_waft_depth_full_window.mp4", - "visibility_certainty": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/23007103/23007103_visibility_certainty.png", - "support_rejections": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/23007103/support_and_rejections.png", - "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/23007103/paired_depth.png" - } - } - ], - "recipe": { - "depth_source": "waft_stereo_dav2l5", - "mask_erosion_px": 2, - "filter": { - "method": "Open3D.remove_statistical_outlier", - "nb_neighbors": 20, - "std_ratio": 2.0, - "input_count": 29763, - "kept_count": 28354, - "removed_count": 1409, - "per_view": [ - { - "view": 0, - "input": 7621, - "kept": 7369, - "removed": 252, - "live_20_0.05_kept": 5619, - "no_filter_kept": 7621 - }, - { - "view": 1, - "input": 9155, - "kept": 8997, - "removed": 158, - "live_20_0.05_kept": 6504, - "no_filter_kept": 9155 - }, - { - "view": 2, - "input": 7949, - "kept": 7564, - "removed": 385, - "live_20_0.05_kept": 4361, - "no_filter_kept": 7949 - }, - { - "view": 3, - "input": 5038, - "kept": 4424, - "removed": 614, - "live_20_0.05_kept": 1621, - "no_filter_kept": 5038 - } - ] - }, - "max_rounds": 400, - "reprojection": { - "weight": 8.0, - "direction": "visible mask pixels to projected centerline", - "ribbon_twist_stage": null, - "mask": "accepted object outside hand/occluder union", - "view_aggregation": "equal view means", - "distance": "metric image plane using per-view median visible belt depth and fx/fy", - "samples": 360, - "huber_delta_m": 0.005, - "smooth_cap_m": 0.035, - "baseline_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - }, - "solver": { - "solver_type": "lbfgs", - "linesearch_type": "zoom", - "max_linesearch_steps": 10, - "grad_norm_tolerance": 0.0001, - "max_iter": 25 - }, - "ribbon_twist_refinement": null - }, - "fit": { - "stage1_rounds": 1, - "stage1_stop": "gradient_tolerance", - "stage1_final": null, - "twist": null, - "final": { - "loss": 8.371292642550543e-05, - "components": { - "distance": 2.2871601686347276e-05, - "curvature": 2.1989610843320406e-07, - "arclength": 8.190228300009039e-07, - "mask_reprojection_2d": 5.980240530334413e-05 - }, - "grad_norm": 9.883438906399533e-05, - "arclength_m": 0.5878618359565735, - "arclength_bound_active_within_1mm": true, - "max_curvature_per_m": 59.5609245300293, - "curvature_p50_p90_per_m": [ - 8.134999752044678, - 28.17297992706299 - ], - "curvature_above_max_fraction": 0.416, - "mean_distance_m": 0.007169828793246598, - "max_distance_m": 0.017117971554398537, - "beyond_2delta_fraction": 0.13444311208295126, - "at_cap_fraction": 0.0, - "per_view": [ - { - "view": 0, - "count": 7369, - "median_m": 0.0072092353366315365, - "p90_m": 0.010553164035081863, - "max_m": 0.01489511039108038, - "beyond_2delta_fraction": 0.1400461392319175, - "at_cap_fraction": 0.0 - }, - { - "view": 1, - "count": 8997, - "median_m": 0.006118175573647022, - "p90_m": 0.008468419872224332, - "max_m": 0.012548235245049, - "beyond_2delta_fraction": 0.03067689229743248, - "at_cap_fraction": 0.0 - }, - { - "view": 2, - "count": 7564, - "median_m": 0.007373129017651081, - "p90_m": 0.010446191113442183, - "max_m": 0.013225933536887169, - "beyond_2delta_fraction": 0.14542570068746694, - "at_cap_fraction": 0.0 - }, - { - "view": 3, - "count": 4424, - "median_m": 0.008625329472124577, - "p90_m": 0.012134039215743542, - "max_m": 0.017117971554398537, - "beyond_2delta_fraction": 0.31735985533453887, - "at_cap_fraction": 0.0 - } - ], - "round": 1, - "relative_loss_change": 0.9777709691937395 - }, - "arclength_soft_bounds_m": [ - 0.5830000042915344, - 0.5849999785423279 - ], - "arclength_outside_soft_bounds_m": 0.0028618574142456055 - }, - "geometry": { - "vertex_count": 1728, - "triangle_count": 3456, - "checks": { - "euler_characteristic": 0, - "watertight": true, - "components": 1, - "winding_consistent": true, - "signed_volume_m3": 3.976620954319075e-05, - "minimum_outward_normal_dot_m": 0.004567559889319127, - "degenerate_triangles": 0, - "self_intersecting": false, - "maximum_radius_error_m": 1.3009460389165617e-08, - "maximum_diameter_error_m": 2.540821582644459e-08, - "bishop_seam_error": 5.960464477539063e-08, - "minimum_nonadjacent_centerline_distance_m": 0.006289314017804162, - "triangle_area_m2": { - "min": 2.828109413994583e-06, - "median": 5.07043327408741e-06, - "mean": 5.0168746815248285e-06, - "max": 6.039619469623064e-06, - "density_max_over_min": 2.135567824829083 - }, - "bounds_m": [ - [ - -0.0012301856186240911, - -0.2738878130912781, - -0.0008142387960106134 - ], - [ - 0.20168709754943848, - -0.08688684552907944, - 0.009708890691399574 - ] - ], - "radius_m": 0.00475, - "step_t": 0.125, - "step_angle_deg": 30, - "overlap_rule": "surface_intersection", - "open3d_reported_intersecting_pairs": 0, - "confirmed_intersecting_pairs": [], - "passed": true, - "orientation_flipped": true - } - }, - "appearance_seed_counts": { - "observed": 28354, - "mesh": 103680, - "total": 132034, - "mesh_to_observed": 3.6566269309444874 - }, - "vertex_colors": { - "observed_vertices": 1260, - "filled_vertices": 468 - }, - "mechanical_population": { - "particle_count": null, - "total_unit_mass": null, - "status": "not produced by the prior run; no post-prior mechanics are evaluated here" - }, - "source_code": { - "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" - }, - "media": { - "full_rotation": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/review/tube/orbit.mp4", - "geometry_depth_cloud": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/review/tube/tube_scale_views.png", - "depth_offset_diagnostic": 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"/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/fit.json", - "geometry_checks": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/tube/tube_checks.json", - "reference_views": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/inputs/reference_views.json", - "reprojection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/spline/reprojection.json", - "tracking_summary": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/summary.json", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json" - } -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/AGENT_FINDINGS.md b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/AGENT_FINDINGS.md deleted file mode 100644 index 5a384081fd62671fa9c1f61f8ff083cba492a04f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/AGENT_FINDINGS.md +++ /dev/null @@ -1,41 +0,0 @@ -# 232950 — 18-control, lower-curvature prior review - -The requested prior is complete and its saved products are internally consistent. Direct inspection of **21 stable panels and 9 orbit frames** found no material geometry or packaging issue. **Owner prior acceptance remains pending.** This packet assesses the initial shape prior; it grants no mechanics, appearance-training or physical-fitting authorization. - -The saved spline contains **18 control points** and uses curvature weight **5e-9**, as requested. All other scientific fit settings match the original prior; the additional baseline-run path supports comparison diagnostics. All six preparation stages and the single packaging/check runner returned zero. Seven saved NPZ families were checked for finite arrays, with geometry/color/hybrid correspondence checks. The original baseline fit and manifest remain unchanged. [Numerical checks](numeric_prior_review.json) · [Exact visual inspection record](agent_visual_review.json) · [Camera links and saved metrics](PRIOR_REVIEW_c6a_v1.md). - -## Comparison with the original prior - -| Common diagnostic | Original: 9 controls, 5e-8 | Requested: 18 controls, 5e-9 | -|---|---:|---:| -| Mean lifted-point distance to centerline (mm) | 6.759496 | 6.646409 | -| Mean of camera mean reprojection distances (mm) | 3.638770 | 3.519716 | -| Fitted length (mm) | 586.224 | 586.567 | -| Distance above soft upper length bound (mm) | 1.224 | 1.567 | -| Maximum curvature (/m) | 40.798 | 51.814 | - -The two common mean residual diagnostics decrease slightly while length and peak curvature increase. These diagnostics do not establish ground-truth reconstruction accuracy. **Total fit objectives are not directly comparable after changing the curvature weight.** [Comparison values](baseline_comparison.json). - -The new fit stopped after one round on gradient tolerance, with final gradient norm **8.65589e-05** and a solver limit of 25 iterations per round. Its length is **1.567 mm above** the unchanged soft upper bound of 585.000 mm. The 10/m curvature threshold and 80/m smooth saturation scale define a soft penalty; they are not hard feasibility bounds. No fit or corrective adjustment was performed during this review. - -## Geometry and image observations - -All four initial input/mask sets, centerline overlays and unmasked tube silhouettes show a coherent closed chain loop on the table. The centerline and tube follow its visible location and width; individual links and sharp corners are smoothed by the continuous-tube approximation. A nearby fingertip is represented in the hand mask, with only a local contact region obscured. Saved visible centerline-in-mask fractions are **100% in all four cameras**; this is a centerline diagnostic, not silhouette IoU. - -The scale, 3D and profile panels show a near-planar closed loop. The saved depth clouds retain spread around and above the tube. The maximum saved point-to-centerline residual is **16.729 mm**; per-camera distributions and medians/p90s remain linked in the metrics packet. The read-only object-minus-local-table medians span **8.545–11.908 mm**, with no correction applied. Vertical axes in the profile/3D displays are expanded. - -The actual tube has **144 rings, 1,728 vertices and 3,456 triangles** at the unchanged **4.75 mm radius**, step_t 0.125 and 30-degree circumferential sampling. Checks report one watertight component, consistent winding, no degenerate triangles and **zero confirmed surface-intersection pairs**. Recomputed maximum radius error is **1.4e-08 m**, seam error **3.73e-09 m**, and tube height bounds **0.097–10.691 mm**. The chain's surface-intersection rule remains unchanged; the 6.640 mm minimum nonadjacent-centerline distance is retained as a diagnostic rather than substituted for surface-intersection testing. - -Orbit frames **0, 4, 9, 13, 18, 22, 26, 31 and 35 of 36** were directly inspected. They show a coherent closed loop from distributed azimuths, with no visible gross crossing, disconnection or seam opening. This is a point/ring visualization. [Rotation](../prior_chain_m18_lowcurvature_v1/review/tube/orbit.mp4) · [Inspected frames](orbit_frames.json). - -The single-round convergence line plot appears blank without a marker; the numerical fit report and rounds.jsonl preserve the result. This presentation limitation is disclosed rather than silently replacing the plot. - -## Colors, sampling and input preservation - -Colors are observed for **1,267 vertices** and median-filled for **461/1,728 (26.68%)**, mainly on the bottom surface. Color arrays are finite and in range; saved GLB roundtrip checks report exact float32 positions and vertex colors. - -The hybrid population is **28,354 observed + 103,680 mesh-derived = 132,034 seeds**. Observed coordinates and colors exactly match the saved filtered cloud. Increasing controls from 9 to 18 at unchanged step_t doubles rings, triangles and mesh-derived seeds: the original population was **28,354 + 51,840 = 80,194**. These counts describe appearance initialization, not mechanical particles or mass. - -All **27 true observation/input, filter and copied step files** remain byte-equal to their original counterparts. The initial copy record also lists a derived Gaussian shape_prior.glb: the requested colors stage replaced that copy with the new geometry, and its final bytes exactly match the new tube/shape_prior.glb. That derived product is explicitly distinguished from unchanged observations. - -This review wrote only its new packet and scoped scratch. The new saved fit, original prior, case status and approval records were preserved. Separate owner prior acceptance and any later push physical-fitting attachment decision remain open. diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md deleted file mode 100644 index 75f593d5831417d598c4884a9b78389130b86449..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md +++ /dev/null @@ -1,45 +0,0 @@ -> **Current status:** owner prior acceptance revoked/on hold on 2026-10-28. Shared chain fitting settings are under review; downstream preparation is held. Earlier review and approval statements below are historical. - -# session_20260921_232950_841214 — prior accepted - -Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual inspection is complete; [findings, baseline comparison and limitations](AGENT_FINDINGS.md) cover 21 stable panels and 9 orbit frames. The owner accepted this prior on 2026-10-28. The saved-value tables below record no acceptance. - -Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](). - -| Camera | Local / converted / native | Centerline / geometry / native input | -|---|---|---| -| 12540311 | 0 / 220 / 221 | [centerline](<../prior_chain_m18_lowcurvature_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_chain_m18_lowcurvature_v1/review/inputs/view_0_12540311.png>) | -| 12933256 | 1 / 220 / 221 | [centerline](<../prior_chain_m18_lowcurvature_v1/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_chain_m18_lowcurvature_v1/review/inputs/view_1_12933256.png>) | -| 17736741 | 0 / 219 / 220 | [centerline](<../prior_chain_m18_lowcurvature_v1/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_chain_m18_lowcurvature_v1/review/inputs/view_2_17736741.png>) | -| 23007103 | 0 / 220 / 221 | [centerline](<../prior_chain_m18_lowcurvature_v1/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_chain_m18_lowcurvature_v1/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_chain_m18_lowcurvature_v1/review/inputs/view_3_23007103.png>) | - -[Full rotation video](<../prior_chain_m18_lowcurvature_v1/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_chain_m18_lowcurvature_v1/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_chain_m18_lowcurvature_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_chain_m18_lowcurvature_v1/review/inputs/depth_offset.png>) - -Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **586.567 mm**, maximum curvature **51.814/m**, final gradient norm **8.65589e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 1.567 mm. - -Saved geometry checks report `passed=True`: **1728 mesh vertices / 3456 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_chain_m18_lowcurvature_v1/tube/tube_checks.json>). - -The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. - -| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence | -|---|---|---|---| -| 12540311 | 6.455 / 9.706 | 100.00% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) | -| 12933256 | 5.734 / 8.166 | 100.00% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) | -| 17736741 | 6.651 / 9.711 | 100.00% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) | -| 23007103 | 8.107 / 11.797 | 100.00% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) | - -The saved statistical filter used 20 neighbours / 2 sigma and kept **28354 of 29763** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. - -Appearance initialization contains **28354 observed + 103680 mesh-derived = 132034 seeds**. Vertex colors are observed for 1267 mesh vertices and median-filled for 461. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages. - -[Appearance seed populations](<../prior_chain_m18_lowcurvature_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_chain_m18_lowcurvature_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>) - -[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>) - -[Manifest](<../prior_chain_m18_lowcurvature_v1/manifest.json>) · [Fit settings and metrics](<../prior_chain_m18_lowcurvature_v1/steps/fit.json>) · [Reference observations](<../prior_chain_m18_lowcurvature_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) - -The completed bounded visual review is recorded in [agent findings](AGENT_FINDINGS.md) and [the exact inspection list](agent_visual_review.json). Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here. - -## Owner prior decision - -On2026-10-28 the owner accepted this exact18-control prior for mechanical inputs and static appearance training. Appearance and physical-fitting decisions remain separate. diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_visual_review.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_visual_review.json deleted file mode 100644 index 725048482040052bf2ca863233e7e3f8f9aee2c0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_visual_review.json +++ /dev/null @@ -1,180 +0,0 @@ -{ - "scope": "232950 M18/lower-curvature saved prior only", - "inspection_completed_utc": "2026-10-28T22:11:49.560014+00:00", - "stable_panels": [ - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/inputs/view_0_12540311.png", - "inspected": true, - "finding": "Mask follows the visible closed chain loop on the table; the nearby fingertip is marked in the hand union. No broad red invalid-depth region is visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/inputs/view_1_12933256.png", - "inspected": true, - "finding": "Mask follows the visible closed chain loop on the table; the nearby fingertip is marked in the hand union. No broad red invalid-depth region is visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/inputs/view_2_17736741.png", - "inspected": true, - "finding": "Mask follows the visible closed chain loop on the table; the nearby fingertip is marked in the hand union. No broad red invalid-depth region is visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/inputs/view_3_23007103.png", - "inspected": true, - "finding": "Mask follows the visible closed chain loop on the table; the nearby fingertip is marked in the hand union. No broad red invalid-depth region is visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/spline/centerline_0_with_masks.png", - "inspected": true, - "finding": "Closed projected centerline follows the visible chain around the loop and remains within its mask. Smooth rounded corners approximate the articulated chain shape." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/spline/centerline_1_with_masks.png", - "inspected": true, - "finding": "Closed projected centerline follows the visible chain around the loop and remains within its mask. Smooth rounded corners approximate the articulated chain shape." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/spline/centerline_2_with_masks.png", - "inspected": true, - "finding": "Closed projected centerline follows the visible chain around the loop and remains within its mask. Smooth rounded corners approximate the articulated chain shape." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/spline/centerline_3_with_masks.png", - "inspected": true, - "finding": "Closed projected centerline follows the visible chain around the loop and remains within its mask. Smooth rounded corners approximate the articulated chain shape." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/tube/silhouette_0_unmasked.png", - "inspected": true, - "finding": "Continuous tube silhouette broadly overlays the observed chain width and location. No gross shift, crossing or gap is visible; link-scale structure and sharper corners are smoothed." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/tube/silhouette_1_unmasked.png", - "inspected": true, - "finding": "Continuous tube silhouette broadly overlays the observed chain width and location. No gross shift, crossing or gap is visible; link-scale structure and sharper corners are smoothed." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/tube/silhouette_2_unmasked.png", - "inspected": true, - "finding": "Continuous tube silhouette broadly overlays the observed chain width and location. No gross shift, crossing or gap is visible; link-scale structure and sharper corners are smoothed." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/tube/silhouette_3_unmasked.png", - "inspected": true, - "finding": "Continuous tube silhouette broadly overlays the observed chain width and location. No gross shift, crossing or gap is visible; link-scale structure and sharper corners are smoothed." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/tube/tube_scale_views.png", - "inspected": true, - "finding": "A coherent near-planar closed loop; observations remain spread around and above the tube surface. The unchanged 9.5 mm diameter and actual 1,728 vertices are shown." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/spline/residual_histograms.png", - "inspected": true, - "finding": "Distributions have peaks around 6\u20138 mm and retain moderate tails. View 3 has the broadest high-distance tail, reaching 16.729 mm. These are point-to-centerline distances, not ground-truth reconstruction errors." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/inputs/depth_offset.png", - "inspected": true, - "finding": "Read-only object-minus-local-table medians are approximately 8.5\u201311.9 mm. No correction applied." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/colors/visibility_and_fill.png", - "inspected": true, - "finding": "Observed colors cover 1,267 vertices and median fill covers 461/1,728; magenta filled vertices concentrate on the bottom surface." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/hybrid/combined.png", - "inspected": true, - "finding": "Observed 28,354 and mesh 103,680 seed populations form the same closed loop. Depth spread around and above the model remains visible; no gross displaced island apparent." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/spline/fit_3d.png", - "inspected": true, - "finding": "The 18-control centerline coherently follows the observed closed loop. Vertical axis is expanded; observed depth variation appears larger than the near-planar fitted centerline." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/spline/curvature_profile.png", - "inspected": true, - "finding": "Several localized curvature peaks, maximum 51.814/m. The 10/m penalty onset and 80/m smooth saturation scale remain soft settings." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/spline/round_curves.png", - "inspected": true, - "finding": "The single-round line plot appears blank without markers. Numerical fit and rounds.jsonl preserve the single-round values." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/tube/tube_profiles.png", - "inspected": true, - "finding": "Continuous closed loop with rounded corners and small height variation; fixed 9.5 mm diameter. Side and oblique vertical display is expanded; no gross twist, break or crossing visible." - } - ], - "stable_panel_count": 21, - "orbit_inspection_pending": false, - "owner_prior_approval": "pending", - "orbit_frames": [ - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/orbit_frames/frame_000.png", - "frame_index": 0, - "inspected": true, - "finding": "Coherent closed tabletop loop from this azimuth, with rounded corners and small height variation; no gross crossing, disconnection or seam opening visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/orbit_frames/frame_004.png", - "frame_index": 4, - "inspected": true, - "finding": "Coherent closed tabletop loop from this azimuth, with rounded corners and small height variation; no gross crossing, disconnection or seam opening visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/orbit_frames/frame_009.png", - "frame_index": 9, - "inspected": true, - "finding": "Coherent closed tabletop loop from this azimuth, with rounded corners and small height variation; no gross crossing, disconnection or seam opening visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/orbit_frames/frame_013.png", - "frame_index": 13, - "inspected": true, - "finding": "Coherent closed tabletop loop from this azimuth, with rounded corners and small height variation; no gross crossing, disconnection or seam opening visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/orbit_frames/frame_018.png", - "frame_index": 18, - "inspected": true, - "finding": "Coherent closed tabletop loop from this azimuth, with rounded corners and small height variation; no gross crossing, disconnection or seam opening visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/orbit_frames/frame_022.png", - "frame_index": 22, - "inspected": true, - "finding": "Coherent closed tabletop loop from this azimuth, with rounded corners and small height variation; no gross crossing, disconnection or seam opening visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/orbit_frames/frame_026.png", - "frame_index": 26, - "inspected": true, - "finding": "Coherent closed tabletop loop from this azimuth, with rounded corners and small height variation; no gross crossing, disconnection or seam opening visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/orbit_frames/frame_031.png", - "frame_index": 31, - "inspected": true, - "finding": "Coherent closed tabletop loop from this azimuth, with rounded corners and small height variation; no gross crossing, disconnection or seam opening visible." - }, - { - "path": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/orbit_frames/frame_035.png", - "frame_index": 35, - "inspected": true, - "finding": "Coherent closed tabletop loop from this azimuth, with rounded corners and small height variation; no gross crossing, disconnection or seam opening visible." - } - ], - "orbit_frame_count": 9, - "assessment": "No material geometry or packaging issue found in the bounded saved-prior review. Separate owner prior acceptance remains pending.", - "limitations": [ - "Continuous 9.5 mm-diameter tube smooths articulated links and sharp chain corners.", - "Depth observations retain spread around and above the tube; centerline residuals are not ground-truth reconstruction errors.", - "The 586.567 mm fitted length exceeds the unchanged soft 585.000 mm upper bound by 1.567 mm.", - "461 of 1,728 vertex colors (26.68%) are median-filled, concentrated on the bottom surface.", - "The one-round convergence line plot appears blank without markers; saved numeric fit and round records remain available.", - "Orbit inspection covers nine distributed frames of the 36-frame point/ring visualization, not every frame." - ] -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/baseline_comparison.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/baseline_comparison.json deleted file mode 100644 index 7c35645af328ffbf356cdc6c0225c5f4e60f5d5b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/baseline_comparison.json +++ /dev/null @@ -1,37 +0,0 @@ -{ - "baseline_controls": 9, - "new_controls": 18, - "baseline_curvature_weight": 5e-08, - "new_curvature_weight": 5e-09, - "common_metrics": { - "mean_point_to_centerline_distance_m": { - "baseline": 0.006759496415072654, - "new": 0.006646408739663103 - }, - "mean_of_view_mean_reprojection_distances_m": { - "baseline": 0.003638769503187857, - "new": 0.0035197158020963486 - }, - "arclength_m": { - "baseline": 0.5862240195274353, - "new": 0.5865673422813416 - }, - "max_curvature_per_m": { - "baseline": 40.79766082763672, - "new": 51.813636779785156 - } - }, - "total_objective_comparison": "Not directly comparable because the curvature weight changed.", - "baseline_hybrid_counts": { - "observed": 28354, - "mesh": 51840, - "total": 80194, - "mesh_to_observed": 1.8283134654722437 - }, - "new_hybrid_counts": { - "observed": 28354, - "mesh": 103680, - "total": 132034, - "mesh_to_observed": 3.6566269309444874 - } -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/numeric_prior_review.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/numeric_prior_review.json deleted file mode 100644 index d0e7cdc7b7f37adc4e2559ef8fc26d4e895ebc85..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/numeric_prior_review.json +++ /dev/null @@ -1,771 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"initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/inputs/view_3_23007103.png", - "native_rgb_depth_video": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/23007103/rgb_waft_depth_full_window.mp4", - "visibility_certainty": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/23007103/23007103_visibility_certainty.png", - "support_rejections": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/23007103/support_and_rejections.png", - "paired_depth": 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}, - "max_rounds": 400, - "reprojection": { - "weight": 4.0, - "direction": "visible mask pixels to projected centerline", - "ribbon_twist_stage": null, - "mask": "accepted object outside hand/occluder union", - "view_aggregation": "equal view means", - "distance": "metric image plane using per-view median visible belt depth and fx/fy", - "samples": 360, - "huber_delta_m": 0.005, - "smooth_cap_m": 0.035, - "baseline_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_v1" - }, - "solver": { - "solver_type": "lbfgs", - "linesearch_type": "zoom", - "max_linesearch_steps": 10, - "grad_norm_tolerance": 0.0001, - "max_iter": 25 - }, - "ribbon_twist_refinement": null - }, - "fit": { - "stage1_rounds": 1, - "stage1_stop": "gradient_tolerance", - "stage1_final": null, - "twist": null, - "final": { - "loss": 5.308172694640234e-05, - "components": { - "distance": 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0.025786373235522953, - "at_cap_fraction": 0.0 - }, - { - "view": 2, - "count": 7564, - "median_m": 0.006650802679359913, - "p90_m": 0.009711283538490535, - "max_m": 0.01248051505535841, - "beyond_2delta_fraction": 0.07773664727657324, - "at_cap_fraction": 0.0 - }, - { - "view": 3, - "count": 4424, - "median_m": 0.008107016794383526, - "p90_m": 0.011796850711107257, - "max_m": 0.016729142516851425, - "beyond_2delta_fraction": 0.24909584086799277, - "at_cap_fraction": 0.0 - } - ], - "round": 1, - "relative_loss_change": 0.9846163736356127 - }, - "arclength_soft_bounds_m": [ - 0.5830000042915344, - 0.5849999785423279 - ], - "arclength_outside_soft_bounds_m": 0.0015673637390136719 - }, - "geometry": { - "vertex_count": 1728, - "triangle_count": 3456, - "checks": { - "euler_characteristic": 0, - "watertight": true, - "components": 1, - "winding_consistent": true, - "signed_volume_m3": 3.967962942358285e-05, - "minimum_outward_normal_dot_m": 0.00457201062406754, - "degenerate_triangles": 0, - "self_intersecting": false, - "maximum_radius_error_m": 1.3966590984432203e-08, - "maximum_diameter_error_m": 2.7933181968864407e-08, - "bishop_seam_error": 3.725290298461914e-09, - "minimum_nonadjacent_centerline_distance_m": 0.0066396232986913, - "triangle_area_m2": { - "min": 3.1132138827652226e-06, - "median": 5.038907936535717e-06, - "mean": 5.005922514675028e-06, - "max": 5.979509355908299e-06, - "density_max_over_min": 1.9206869752865074 - }, - "bounds_m": [ - [ - -0.0006361594423651695, - -0.27391573786735535, - 9.713135659694672e-05 - ], - [ - 0.20152179896831512, - -0.08714931458234787, - 0.010690605267882347 - ] - ], - "radius_m": 0.00475, - "step_t": 0.125, - "step_angle_deg": 30, - "overlap_rule": "surface_intersection", - "open3d_reported_intersecting_pairs": 0, - "confirmed_intersecting_pairs": [], - "passed": true, - "orientation_flipped": true - } - }, - "appearance_seed_counts": { - "observed": 28354, - "mesh": 103680, - "total": 132034, - "mesh_to_observed": 3.6566269309444874 - }, - "vertex_colors": { - "observed_vertices": 1267, - "filled_vertices": 461 - }, - "mechanical_population": { - "particle_count": null, - "total_unit_mass": null, - "status": "not produced by the prior run; no post-prior mechanics are evaluated here" - }, - "source_code": { - "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" - }, - "media": { - "full_rotation": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/tube/orbit.mp4", - "geometry_depth_cloud": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/tube/tube_scale_views.png", - "depth_offset_diagnostic": 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"/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/review/hybrid/combined.png", - "derived_coverage": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/derived/derived_coverage.png", - "derived_30hz_movie": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/derived/derived_30hz_xyz.mp4" - }, - "sources": { - "manifest": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/manifest.json", - "fit": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/fit.json", - "geometry_checks": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/tube/tube_checks.json", - "reference_views": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/inputs/reference_views.json", - "reprojection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/spline/reprojection.json", - "tracking_summary": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/review_v1/summary.json", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json" - } -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md deleted file mode 100644 index 7dc65fa391292c23ac29ee8d170aed06b5b3b99e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md +++ /dev/null @@ -1,65 +0,0 @@ -# session_20260921_232950_841214 — prior approval pending - -Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual review is complete; owner prior approval remains pending. This packet reports saved values and existing media with the observations below; it records no acceptance. - -Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](). - -| Camera | Local / converted / native | Centerline / geometry / native input | -|---|---|---| -| 12540311 | 0 / 220 / 221 | [centerline](<../prior_chain_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_chain_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_chain_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_chain_v1/review/inputs/view_0_12540311.png>) | -| 12933256 | 1 / 220 / 221 | [centerline](<../prior_chain_v1/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_chain_v1/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_chain_v1/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_chain_v1/review/inputs/view_1_12933256.png>) | -| 17736741 | 0 / 219 / 220 | [centerline](<../prior_chain_v1/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_chain_v1/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_chain_v1/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_chain_v1/review/inputs/view_2_17736741.png>) | -| 23007103 | 0 / 220 / 221 | [centerline](<../prior_chain_v1/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_chain_v1/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_chain_v1/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_chain_v1/review/inputs/view_3_23007103.png>) | - -[Full rotation video](<../prior_chain_v1/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_chain_v1/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_chain_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_chain_v1/review/inputs/depth_offset.png>) - -Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **586.224 mm**, maximum curvature **40.798/m**, final gradient norm **5.96164e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 1.224 mm. - -Saved geometry checks report `passed=True`: **864 mesh vertices / 1728 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_chain_v1/tube/tube_checks.json>). - -The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. - -| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence | -|---|---|---|---| -| 12540311 | 6.778 / 9.700 | 100.00% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) | -| 12933256 | 5.917 / 8.537 | 99.72% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) | -| 17736741 | 6.877 / 9.660 | 100.00% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) | -| 23007103 | 7.688 / 12.632 | 100.00% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) | - -The saved statistical filter used 20 neighbours / 2 sigma and kept **28354 of 29763** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. - -Appearance initialization contains **28354 observed + 51840 mesh-derived = 80194 seeds**. Vertex colors are observed for 626 mesh vertices and median-filled for 238. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages. - -[Appearance seed populations](<../prior_chain_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_chain_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>) - -[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>) - -[Manifest](<../prior_chain_v1/manifest.json>) · [Fit settings and metrics](<../prior_chain_v1/steps/fit.json>) · [Reference observations](<../prior_chain_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) - -The agent inspected the 21 initial-prior panels and nine sampled orbit frames listed in [the findings](). Owner prior approval remains pending. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here. - -## Agent review - -**Ready for owner review of the initial baseline prior, with a disclosed soft-length violation, corner smoothing and measurement limitations.** No blocking tube-construction defect was found. The push fixed-material-attachment decision remains separate; this review does not authorize physical fitting. - -Goal: review the saved baseline chain prior. Done when: all 21 panels, nine orbit samples and numerical evidence are inspected and findings saved. Non-goals: changing the fit or science, adopting another variant, preparing mechanics, training appearance or granting approval. - -All four initial input panels show the intended tabletop chain loop and a single pushing hand_A. The centerline and tube overlays follow the broad closed contour, with visible smoothing of sharp link-level corners and the small indentation near the fingertip. Small offsets remain at bends and outer edges. A continuous circular tube approximates the chain outline; individual plates, rollers, gaps and link articulation are absent. - -Inspection covered **21 actual panels**: four inputs, four masked centerlines, eight masked/unmasked tube silhouettes, scale/depth cloud, depth-offset diagnostic, residual histograms, colors/fill and hybrid seeds. Orbit frames **0, 4, 8, 13, 17, 21, 26, 30 and 35** of 36 at 12 fps were inspected individually. The sampled plots show one approximately planar loop without a gross crossing, detached segment or local collapse. The plotted cross-section rings are geometry samples, not separately modeled chain links. This is sampled inspection, not continuous playback. - -The actual baseline retains **nine spline controls** and curvature weight **5e-8**. One outer round stopped at gradient tolerance, with final norm **5.962e-5**. The saved final round matches the reported result. **Length is 586.224 mm, 1.224 mm above the approximately 585 mm soft upper bound**; the soft interval is 583–585 mm. The saved active-bound flag does not mean the result is feasible or within 1 mm outside the bounds. Maximum curvature is **40.798/m**, and **45.2%** of sampled values exceed the soft 10/m threshold. These are soft-loss outcomes; neither a new hard threshold nor a refit was applied. - -The **4.75 mm radius / 9.5 mm diameter** tube contains **864 vertices and 1728 triangles**. Saved checks report one connected, outward, watertight genus-one surface, positive signed volume, no degenerate triangle and **zero proposed or confirmed self-intersecting triangle pairs**. The chain uses the owner-approved **surface-intersection rule**. Minimum nonadjacent ring-center separation is **11.403 mm** and is reported descriptively; the ring-separation rule is not added as a second requirement. Recomputed radius error and geometry bounds match the saved values. - -All **28,354 saved point-to-centerline residuals** and numerical geometry arrays are finite; per-view residual counts, medians and p90 values recompute exactly. The centerline histogram label is appropriate for this tube fit. These distances and the centerline-inside-mask percentages above are separate diagnostics, not tube-surface reconstruction errors, silhouette IoU or ground-truth accuracy. The finite tube radius and link width must be considered when interpreting distances to a one-dimensional centerline. - -The tube z range is **0.296–10.767 mm** above nominal table z=0. Chain-interior-minus-local-table depth medians are **11.908 / 8.545 / 10.673 / 9.574 mm**, in camera order 12540311 / 12933256 / 17736741 / 23007103. The scale/hybrid panels show broader lateral and vertical observation bands. Positive minimum mesh height does not establish correct contact or calibration; no snapping, table correction or depth offset was applied. - -Colors are observed at **626 vertices** and median-filled at **238**, including much of the low-facing side. Hybrid initialization contains **28,354 observed + 51,840 mesh-derived = 80,194 seeds**. These are distinct from mechanical particles and trained appearance. The prior run does not establish a post-prior particle count, total physical mass or fitted material parameters. - -The native reference rows are **0 / 1 / 0 / 0** by camera order, with converted frames **220 / 220 / 219 / 220**. These are saved nearest-camera observations of the initial 30 Hz grid sample, not equal-index synchronization. The [completed temporal reference review](<../review_v1/REVIEW.md>) reports growing hand occlusion and decreasing later coverage, especially in 12540311 and 12933256; exposed arcs remain better supported in 17736741 and 23007103. Local gaps and unequal supported bands persist. Its temporal inspection is linked rather than repeated here. - -Initial proximity and full-window hand-track validity do not establish physical contact or attachment to a fixed material point. **The push fixed-attachment approximation remains a separate owner scientific decision before dependent physical fitting.** Neither this initial geometry review nor a future appearance decision settles that model choice. - -All eight saved prior commands and the single packaging invocation returned zero. Case/frame mappings, baseline settings, source code and saved colored-mesh identities were checked. Only this new review packet and scratch were written; source code, observations, scientific settings and approval records were unchanged. diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/agent_findings.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/agent_findings.json deleted file mode 100644 index ed4e5cc539b02de4abaa28a94a4d3412e9826475..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/agent_findings.json +++ /dev/null @@ -1,634 +0,0 @@ -{ - "case": "session_20260921_232950_841214/window_anchor0220-0428", - "reviewed_at_utc": "2026-10-28T21:34:40.532229+00:00", - "review_kind": "bounded agent review of current C2 baseline bike-chain initial prior", - "readiness": "ready_for_owner_initial_prior_review_with_disclosed_soft_length_and_continuous_tube_limits", - "blocking_findings_for_initial_prior": [], - "owner_prior_approval": "pending; this review grants no acceptance", - "physical_fitting_authorized": false, - "push_fixed_material_attachment": "separate unresolved owner scientific decision before dependent physical fitting", - "scope": { - "goal": "Review the completed baseline nine-control, original-curvature bike-chain prior and its 4.75 mm radius tube.", - "done_when": "Package once, inspect all 21 actual panels and nine sampled orbit frames, verify saved numerical evidence and identities, and retain case-specific limitations.", - "non_goals": [ - "No source/scientific change, refit, variant adoption or observation repair", - "No mechanics, appearance training or physical fit", - "No owner/global records or approval" - ], - "validation": "Eight saved stages returned zero; all 21 panels and nine orbit samples inspected; residual counts/quantiles, nine controls, original curvature, final saved round, geometry bounds/radius and colored-mesh identities checked." - }, - "image_path_base": "../prior_chain_v1/review", - "inspected_images": [ - "inputs/view_0_12540311.png", - "inputs/view_1_12933256.png", - "inputs/view_2_17736741.png", - "inputs/view_3_23007103.png", - "spline/centerline_0_with_masks.png", - "spline/centerline_1_with_masks.png", - "spline/centerline_2_with_masks.png", - "spline/centerline_3_with_masks.png", - "tube/silhouette_0_unmasked.png", - "tube/silhouette_1_unmasked.png", - "tube/silhouette_2_unmasked.png", - "tube/silhouette_3_unmasked.png", - "tube/silhouette_0_with_masks.png", - "tube/silhouette_1_with_masks.png", - "tube/silhouette_2_with_masks.png", - "tube/silhouette_3_with_masks.png", - "tube/tube_scale_views.png", - "inputs/depth_offset.png", - "spline/residual_histograms.png", - "colors/visibility_and_fill.png", - "hybrid/combined.png" - ], - "inspected_videos": { - "../prior_chain_v1/review/tube/orbit.mp4": { - "frame_count": 36, - "fps": 12.0, - "duration_s": 3.0, - "visually_inspected_frame_indices": [ - 0, - 4, - 8, - 13, - 17, - 21, - 26, - 30, - 35 - ], - "method": "Nine selected frames extracted unchanged for individual visual inspection; not continuous playback." - } - }, - "inspected_data": [ - "../prior_chain_v1/steps/fit.json", - "../prior_chain_v1/tube/tube_checks.json", - "../prior_chain_v1/tube/geometry.npz", - "../prior_chain_v1/spline/reprojection.json", - "../prior_chain_v1/inputs/depth_offset_diagnostic.json", - "../prior_chain_v1/spline/spline_fit.json", - "../prior_chain_v1/spline/residuals.npz", - "../prior_chain_v1/spline/rounds.jsonl", - "../prior_chain_v1/steps/colors.json", - "../prior_chain_v1/steps/hybrid.json", - "../review_v1/REVIEW.md", - "../review_v1/agent_findings.json", - "prior_metrics.json" - ], - "saved_metrics": { - "representation": { - "name": "bike_chain", - "representation": "tube", - "fitter_source": "scripts/chain_state_estimation.py loss/solver literals", - "dimension_source": "owner approximate 9.5 mm diameter (corpus Q2, 2026-10-25)", - "radius_m": 0.00475, - "ribbon_width_m": null, - "step_t": 0.125, - "step_angle_deg": 30, - "u_resolution": null, - "overlap_rule": "surface_intersection", - "twist_penalty": null - }, - "control_count": 9, - "curvature_weight": 5e-08, - "rounds": 1, - "stop": "gradient_tolerance", - "final": { - "loss": 5.708388562197797e-05, - "components": { - "distance": 2.1007188479416072e-05, - "curvature": 1.5685956213928876e-06, - "arclength": 1.498276418487876e-07, - "mask_reprojection_2d": 3.435827238718048e-05 - }, - "grad_norm": 5.9616402722895145e-05, - "arclength_m": 0.5862240195274353, - "arclength_bound_active_within_1mm": true, - "max_curvature_per_m": 40.79766082763672, - "curvature_p50_p90_per_m": [ - 9.178553581237793, - 26.228725624084472 - ], - "curvature_above_max_fraction": 0.452, - "mean_distance_m": 0.006759496415072654, - "max_distance_m": 0.016490761190652847, - "beyond_2delta_fraction": 0.08894688580094519, - "at_cap_fraction": 0.0, - "per_view": [ - { - "view": 0, - "count": 7369, - "median_m": 0.006777700502425432, - "p90_m": 0.009699791669845581, - "max_m": 0.0142622459679842, - "beyond_2delta_fraction": 0.08345772832134618, - "at_cap_fraction": 0.0 - }, - { - "view": 1, - "count": 8997, - "median_m": 0.00591658940538764, - "p90_m": 0.00853693038225174, - "max_m": 0.012768818996846676, - "beyond_2delta_fraction": 0.03289985550739135, - "at_cap_fraction": 0.0 - }, - { - "view": 2, - "count": 7564, - "median_m": 0.0068769012577831745, - "p90_m": 0.009660360869020224, - "max_m": 0.012647921219468117, - "beyond_2delta_fraction": 0.07443151771549444, - "at_cap_fraction": 0.0 - }, - { - "view": 3, - "count": 4424, - "median_m": 0.0076883090659976006, - "p90_m": 0.012631860282272103, - "max_m": 0.016490761190652847, - "beyond_2delta_fraction": 0.23688969258589512, - "at_cap_fraction": 0.0 - } - ], - "round": 1, - "relative_loss_change": 0.9834588042215522 - }, - "soft_length_bounds_m": [ - 0.5830000042915344, - 0.5849999785423279 - ], - "soft_length_violation_m": 0.0012240409851074219, - "geometry_checks": { - "euler_characteristic": 0, - "watertight": true, - "components": 1, - "winding_consistent": true, - "signed_volume_m3": 3.962098899968055e-05, - "minimum_outward_normal_dot_m": 0.004558430000197802, - "degenerate_triangles": 0, - "self_intersecting": false, - "maximum_radius_error_m": 1.3288435165605128e-08, - "maximum_diameter_error_m": 2.656257629650438e-08, - "bishop_seam_error": 0.0, - "minimum_nonadjacent_centerline_distance_m": 0.01140255530563929, - "triangle_area_m2": { - "min": 5.725679563620054e-06, - "median": 1.0422309133997222e-05, - "mean": 1.0000395892337634e-05, - "max": 1.2274507800837112e-05, - "density_max_over_min": 2.143764362718994 - }, - "bounds_m": [ - [ - -0.0011128615587949753, - -0.27300751209259033, - 0.00029635895043611526 - ], - [ - 0.20148952305316925, - -0.08691386133432388, - 0.010767366737127304 - ] - ], - "radius_m": 0.00475, - "step_t": 0.125, - "step_angle_deg": 30, - "overlap_rule": "surface_intersection", - "open3d_reported_intersecting_pairs": 0, - "confirmed_intersecting_pairs": [], - "passed": true, - "orientation_flipped": true - }, - "mesh_vertices": 864, - "mesh_triangles": 1728, - "reprojection": { - "samples": 360, - "direction": "visible mask pixels to projected centerline", - "per_view": [ - { - "view": 0, - "serial": "12540311", - "mask_pixels": 11400, - "median_depth_m": 1.116, - "mean_m": 0.0034136523009028713, - "median_m": 0.0030126074940189478, - "p90_m": 0.006751319765422843, - "mean_px": 4.605602572365684, - "median_px": 4.064547403487412, - "p90_px": 9.108691497118317, - "visible_centerline_samples": 360, - "outside_mask_fraction": 0.0 - }, - { - "view": 1, - "serial": "12933256", - "mask_pixels": 12603, - "median_depth_m": 1.043, - "mean_m": 0.003695896797375559, - "median_m": 0.003319177740345427, - "p90_m": 0.0072377106044007305, - "mean_px": 5.262886434945554, - "median_px": 4.726446478360391, - "p90_px": 10.306385334988535, - "visible_centerline_samples": 360, - "outside_mask_fraction": 0.002777777777777778 - }, - { - "view": 2, - "serial": "17736741", - "mask_pixels": 11572, - "median_depth_m": 1.177, - "mean_m": 0.0036502500091245287, - "median_m": 0.003333751160838061, - "p90_m": 0.006861739497007187, - "mean_px": 4.680063059150293, - "median_px": 4.274286683049941, - "p90_px": 8.797555699794032, - "visible_centerline_samples": 360, - "outside_mask_fraction": 0.0 - }, - { - "view": 3, - "serial": "23007103", - "mask_pixels": 7534, - "median_depth_m": 0.933, - "mean_m": 0.003795278905348468, - "median_m": 0.0034434773116744518, - "p90_m": 0.007283032882295314, - "mean_px": 4.288504729953305, - "median_px": 3.8910038163562213, - "p90_px": 8.229525195372567, - "visible_centerline_samples": 360, - "outside_mask_fraction": 0.0 - } - ], - "mean_of_view_means_m": 0.003638769503187857 - }, - "depth_chain_minus_local_table_m_by_serial": { - "12540311": 0.011907586292265293, - "12933256": 0.008545255984522937, - "17736741": 0.010673496241512759, - "23007103": 0.009574444438573526 - }, - "filter": { - "method": "Open3D.remove_statistical_outlier", - "nb_neighbors": 20, - "std_ratio": 2.0, - "input_count": 29763, - "kept_count": 28354, - "removed_count": 1409, - "per_view": [ - { - "view": 0, - "input": 7621, - "kept": 7369, - "removed": 252, - "live_20_0.05_kept": 5619, - "no_filter_kept": 7621 - }, - { - "view": 1, - "input": 9155, - "kept": 8997, - "removed": 158, - "live_20_0.05_kept": 6504, - "no_filter_kept": 9155 - }, - { - "view": 2, - "input": 7949, - "kept": 7564, - "removed": 385, - "live_20_0.05_kept": 4361, - "no_filter_kept": 7949 - }, - { - "view": 3, - "input": 5038, - "kept": 4424, - "removed": 614, - "live_20_0.05_kept": 1621, - "no_filter_kept": 5038 - } - ] - }, - "appearance_seed_counts": { - "observed": 28354, - "mesh": 51840, - "total": 80194, - "mesh_to_observed": 1.8283134654722437 - }, - "vertex_colors": { - "observed_vertices": 626, - "filled_vertices": 238 - }, - "reference_views": [ - { - "serial": "12540311", - "view_index": 0, - "selected_window_local_index": 0, - "converted_frame": 220, - "native_container_frame": 221, - "official_frame": 220, - "depth_frame": 220, - "capture_timestamp_ns": 1790047822462860183, - "device_timestamp_ns": 1790047822418917321, - "initial_grid_offset_ms": 2.567867, - "visible_centerline_inside_mask_fraction": 1.0 - }, - { - "serial": "12933256", - "view_index": 1, - "selected_window_local_index": 1, - "converted_frame": 220, - "native_container_frame": 221, - "official_frame": 220, - "depth_frame": 220, - "capture_timestamp_ns": 1790047822481476441, - "device_timestamp_ns": 1790047822435116300, - "initial_grid_offset_ms": -16.048391, - "visible_centerline_inside_mask_fraction": 0.9972222222222222 - }, - { - "serial": "17736741", - "view_index": 2, - "selected_window_local_index": 0, - "converted_frame": 219, - "native_container_frame": 220, - "official_frame": 219, - "depth_frame": 219, - "capture_timestamp_ns": 1790047822449022259, - "device_timestamp_ns": 1790047822403316957, - "initial_grid_offset_ms": 16.405791, - "visible_centerline_inside_mask_fraction": 1.0 - }, - { - "serial": "23007103", - "view_index": 3, - "selected_window_local_index": 0, - "converted_frame": 220, - "native_container_frame": 221, - "official_frame": 220, - "depth_frame": 220, - "capture_timestamp_ns": 1790047822465428050, - "device_timestamp_ns": 1790047822422094747, - "initial_grid_offset_ms": 0.0, - "visible_centerline_inside_mask_fraction": 1.0 - } - ] - }, - "numerical_checks": { - "control_shape": [ - 9, - 3 - ], - "control_count_matches_baseline_nine": true, - "curvature_weight_matches_baseline": true, - "all_controls_finite": true, - "last_round_matches_final": true, - "residual_kind": "point-to-centerline distance", - "residual_count": 28354, - "all_residuals_finite": true, - "residual_mean_m": 0.006759496415072654, - "per_view_recomputed": { - "0": { - "count": 7369, - "median_m": 0.006777700502425432, - "p90_m": 0.009699791669845581 - }, - "1": { - "count": 8997, - "median_m": 0.00591658940538764, - "p90_m": 0.00853693038225174 - }, - "2": { - "count": 7564, - "median_m": 0.0068769012577831745, - "p90_m": 0.009660360869020224 - }, - "3": { - "count": 4424, - "median_m": 0.0076883090659976006, - "p90_m": 0.012631860282272103 - } - }, - "per_view_recomputed_matches_saved": true, - "geometry_array_shapes": { - "vertices": [ - 864, - 3 - ], - "faces": [ - 1728, - 3 - ], - "centers": [ - 72, - 3 - ], - "normals": [ - 864, - 3 - ] - }, - "geometry_numeric_fields": [ - "vertices", - "faces", - "centers", - "normals" - ], - "geometry_numeric_arrays_all_finite": true, - "recomputed_maximum_radius_error_m": 1.3288435165605128e-08, - "radius_error_matches_saved": true, - "recomputed_geometry_bounds_m": [ - [ - -0.0011128615587949753, - -0.27300751209259033, - 0.00029635895043611526 - ], - [ - 0.20148952305316925, - -0.08691386133432388, - 0.010767366737127304 - ] - ], - "geometry_bounds_match_saved": true, - "soft_length_violation_m": 0.0012240409851074219, - "chain_surface_intersection_rule": "surface_intersection", - "saved_geometry_checks_passed": true, - "saved_colored_glb_identities_match": true - }, - "observations": [ - "All four input panels show the intended tabletop bike-chain loop and one pushing hand. The accepted object masks follow the visible chain, and the fingertip/hand is represented by the occlusion union. No second participating hand is introduced.", - "The four centerline and tube-overlay pairs follow the broad closed contour. The nine-control centerline smooths the sharper link-level corners and local indentation near the fingertip; small offsets remain around bends and exposed outer edges. The continuous circular tube cannot reproduce the individual plates, rollers, gaps or articulation of real links.", - "The nine sampled orbit frames show one approximately planar loop with a consistent tube cross-section, without a gross detached segment, local collapse or crossing. The visible rings are plotted tube cross-section samples, not modeled individual chain links. The orbit is a sampled geometry plot, not a photorealistic render or continuous manual playback.", - "The scale and hybrid panels retain view-dependent lateral and depth spread around the tube. The tube remains slightly above nominal z=0, while observed points occupy a broader band. This supports reporting uncertain table registration rather than claiming verified physical contact.", - "The color panel shows 626 observed-color vertices and 238 median-filled vertices, with much of the low-facing side filled. Hybrid initialization has 28,354 observed and 51,840 mesh-derived seeds. These are geometry/appearance initialization populations, not mechanical particles or trained appearance." - ], - "limitations": [ - { - "kind": "soft_length_violation", - "evidence": { - "length_m": 0.5862240195274353, - "soft_bounds_m": [ - 0.5830000042915344, - 0.5849999785423279 - ], - "excess_above_upper_m": 0.0012240409851074219, - "saved_arclength_bound_active_within_1mm": true - }, - "meaning": "Length 586.224020 mm exceeds the approximately 585 mm soft upper bound by 1.224041 mm. The saved active-bound flag is not evidence of hard feasibility or of being within 1 mm outside the bounds. No changed penalty, threshold or refit was applied." - }, - { - "kind": "baseline_shape_approximation", - "evidence": { - "control_count": 9, - "curvature_weight": 5e-08, - "maximum_curvature_per_m": 40.79766082763672, - "fraction_above_soft_10_per_m": 0.452, - "radius_m": 0.00475 - }, - "meaning": "The current baseline uses a smooth centerline and continuous tube. Curvature is softly penalized; corner smoothing and local contour residuals remain. Solver stopping and geometry consistency do not identify actual link mechanics." - }, - { - "kind": "surface_intersection_rule", - "evidence": { - "overlap_rule": "surface_intersection", - "open3d_reported_pairs": 0, - "confirmed_pairs": [], - "minimum_nonadjacent_ring_center_distance_m": 0.01140255530563929 - }, - "meaning": "The chain uses the owner-approved surface-intersection rule. Ring-center separation is descriptive, not an additional hard diameter gate. Saved checks report zero proposed/confirmed intersecting pairs and a connected outward watertight genus-one tube." - }, - { - "kind": "table_registration_and_depth", - "evidence": { - "surface_z_min_max_m": [ - 0.00029635895043611526, - 0.010767366737127304 - ], - "chain_minus_local_table_m_by_serial": { - "12540311": 0.011907586292265293, - "12933256": 0.008545255984522937, - "17736741": 0.010673496241512759, - "23007103": 0.009574444438573526 - } - }, - "meaning": "Positive mesh height does not validate contact or calibration. Camera-dependent depth and surface coverage remain uncertain; no table snap, depth correction or other input change was applied." - }, - { - "kind": "later_coverage_and_contact", - "evidence": "../review_v1/REVIEW.md and agent_findings.json", - "meaning": "The saved temporal review reports growing hand occlusion and weaker late coverage in 12540311/12933256, with local gaps and unequal supported bands. Initial proximity and valid hand trajectories do not establish fixed material attachment. The push attachment approximation remains a separate owner scientific decision before dependent physical fitting." - }, - { - "kind": "metric_interpretation", - "evidence": "Saved point-to-centerline residuals and visible-centerline-inside-mask fractions.", - "meaning": "These are separate diagnostics. Neither is tube-surface reconstruction error, silhouette IoU or ground-truth accuracy. A 4.75 mm radius tube and finite-width link observations naturally differ from the 1D centerline." - } - ], - "temporal_reference_review": { - "path": "../review_v1/agent_findings.json", - "readiness": "initial_evidence_supports_current_C2_prior_construction; owner prior acceptance remains separate", - "visual_findings": { - "12540311": "The exposed chain contour follows the triangular initial loop, progressive indentation, folded two-lobe shape and translation. The growing hand-over-chain overlap has many hidden predictions (magenta rings); visible support drops most strongly after row about145. Rejected gray predictions outside the contour remain visible as diagnostics, not admitted points.", - "12933256": "The initial contour and hand align. Later the hand hides the upper/far lobe and the exposed near lobe retains support. Hidden predictions extend across the wrist/hand; they are not measurements. Exposed support declines gradually with folding and occlusion.", - "17736741": "The triangular loop, inward indentation and two folded lobes retain broad exposed contour coverage. Later points under the hand are hidden/rejected while lower exposed arcs retain support. No observed identity swap or remote accepted cloud in the inspected frames.", - "23007103": "The loop stays on the tabletop in the sampled RGB/depth frames, indents and folds while translating. Both exposed lobes retain points; the fingertip interval and later hand-overlap are hidden/rejected. Late support is stronger than125/129.", - "derived": "The initial cloud forms one approximately planar triangular loop. It folds inward into two lobes and translates along the tabletop. Gaps and unequal bands grow near the hidden fold and exposed arc ends. No gross detached remote cloud or large vertical spike was visible in the inspected derived samples; this is bounded visual coverage, not a guarantee about every sample." - }, - "limitations": [ - "Thin-chain boundaries, repeated-link identity and hand occlusion reduce support; missing points and rejection flags remain unchanged.", - "High diagnostic certainty and full-window controller validity do not prove tracking accuracy or contact.", - "Same-UV native-minus-WAFT depths are a sensor comparison, not ground-truth errors.", - "Initial proximity does not establish fixed material attachment. The push fixed-attachment approximation remains a separate owner scientific decision before dependent physical fitting.", - "No mask/window/crop/query change, point repair, changed prior recipe or physical fit was performed." - ], - "inspection_note": "Read the completed case-specific reference findings; this bounded initial-prior review does not repeat or expand its temporal visual coverage." - }, - "prior_command_results": { - "batch_prior_colors_result.json": { - "returncode": 0, - "wall_seconds": 2.6509459018707275, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" - }, - "batch_prior_diagnose_depth_result.json": { - "returncode": 0, - "wall_seconds": 1.5871577262878418, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" - }, - "batch_prior_fit_result.json": { - "returncode": 0, - "wall_seconds": 22.02327036857605, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" - }, - "batch_prior_hybrid_result.json": { - "returncode": 0, - "wall_seconds": 2.2828211784362793, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" - 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All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though." - }, - "12933256": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/12933256/review_signoff.json", - "signoff_sha256": "0eb472188d1692b88ed4491b1d41230613657e8f72e82c83430a5f72507668e3", - "reviewed_by": "owner", - "decision": "accept", - "date": "2026-10-28T16:30:37Z", - "labelling_as_accepted": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. 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"returncode": 0, - "wall_seconds": 1.6258492469787598 -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/selected_mask_admission.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/selected_mask_admission.json deleted file mode 100644 index f4e4fb69cb0d47fcfcaca00b6bfef45bc0f85272..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/selected_mask_admission.json +++ /dev/null @@ -1,147 +0,0 @@ -{ - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5", - "owner_acceptance": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/owner_mask_acceptance_c6a_selected_20261028.json", - "source_selection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/mask_review_selection.json", - 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"covered_frames": 209, - "visible_frames": 0, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - }, - "occluder": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/12540311/review_signoff_occluder.json", - "covered_frames": 209, - "visible_frames": 209, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - } - } - }, - { - "serial": "12933256", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/12933256/inspection/frames.npz", - "T": 209, - "roles": { - "object": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/12933256/review_signoff.json", - "covered_frames": 209, - "visible_frames": 209, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - }, - "hand_A": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/12933256/review_signoff.json", - "covered_frames": 209, - "visible_frames": 209, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - }, - "hand_B": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/12933256/review_signoff.json", - "covered_frames": 209, - "visible_frames": 0, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - }, - "occluder": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/12933256/review_signoff_occluder.json", - "covered_frames": 209, - "visible_frames": 209, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - } - } - }, - { - "serial": "17736741", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/17736741/inspection/frames.npz", - "T": 209, - "roles": { - "object": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/17736741/review_signoff.json", - "covered_frames": 209, - "visible_frames": 209, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - }, - "hand_A": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/17736741/review_signoff.json", - "covered_frames": 209, - "visible_frames": 209, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - }, - "hand_B": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/17736741/review_signoff.json", - "covered_frames": 209, - "visible_frames": 0, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - }, - "occluder": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/17736741/review_signoff_occluder.json", - "covered_frames": 209, - "visible_frames": 209, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - } - } - }, - { - "serial": "23007103", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/23007103/inspection/frames.npz", - "T": 209, - "roles": { - "object": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/23007103/review_signoff.json", - "covered_frames": 209, - "visible_frames": 209, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - }, - "hand_A": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/23007103/review_signoff.json", - "covered_frames": 209, - "visible_frames": 209, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - }, - "hand_B": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/23007103/review_signoff.json", - "covered_frames": 209, - "visible_frames": 0, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - }, - "occluder": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/23007103/review_signoff_occluder.json", - "covered_frames": 209, - "visible_frames": 209, - "reviewed_pixel_counts_equal": true, - "source_segments": 2 - } - } - } - ] -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/APPEARANCE_REVIEW_c6a_v1.md b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/APPEARANCE_REVIEW_c6a_v1.md deleted file mode 100644 index 04500ee6b3c2bd82ee60d18b9d47d30de1681abf..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/APPEARANCE_REVIEW_c6a_v1.md +++ /dev/null @@ -1,36 +0,0 @@ -# 232950: static appearance from the stronger-reprojection prior - -**Static training and review are complete; owner appearance acceptance is recorded below.** The run uses the newly accepted 18-control prior with curvature weight 5e-9, reprojection weight 8 and radius 4.75 mm. - -[Rotation video](appearance_train_v1/review/novel_view.mp4) · [Loss curves](appearance_train_v1/review/loss_curves.png) · [Accepted prior review](../prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md) - -The initial loop is continuous in all four final camera renders, with the broad silhouette and visible link texture aligned to the observations. The main remaining local artifact is a small diffuse/fringed protrusion at the fingertip contact; no gross detached appearance cloud is visible in the inspected views. - -- [Camera 12540311: observed/rendered RGB, masks and depth](appearance_train_v1/review/iteration_10000/view_0_sheet.png): The angular upper return and curved lower arc follow the observed loop. The fingertip-side segment has a small dark protrusion with sparse alpha fringe; exposed link texture remains visible. -- [Camera 12933256: observed/rendered RGB, masks and depth](appearance_train_v1/review/iteration_10000/view_1_sheet.png): The near and far arcs remain closed and track the observed contour. A local mottled fringe protrudes under the right-side fingertip contact. -- [Camera 17736741: observed/rendered RGB, masks and depth](appearance_train_v1/review/iteration_10000/view_2_sheet.png): The triangular broad contour and lower arc remain continuous, with no large gap. A small bump and sparse fringe remain at the left-side fingertip location. -- [Camera 23007103: observed/rendered RGB, masks and depth](appearance_train_v1/review/iteration_10000/view_3_sheet.png): The broad contour follows the observation, including the front straight-ish span and rounded back arc. Sparse protrusions remain near the fingertip and along the left edge; the hand itself is absent from the object-only render. - -All eight sampled orbit frames retain a closed, textured loop without gross collapse, clipping or detached clouds. The contact-side indentation remains visible and a small protrusion appears from several angles. These sampled views do not establish the correctness of the hidden underside. - -L1 and total loss decline and settle after the early transient. Sharp brief spikes appear near iterations 3000, 6000 and 9000, followed by recovery; no sustained late divergence is visible. - -Training used the same four initial views, masks and hybrid initialization, 10,000 loop iterations / 9,999 optimizer updates, one isotropic scale, and final spherical-harmonic degree 3. Depth/normal/anisotropic/segmentation weights remain 0.001/0/0/1; exact flags and runtime overrides are in the run record. - -Initial hybrid seeds: **132,034**. Final saved Gaussians: **138,428**, with **112,221** retained by the reference strict opacity >0.1 filter. These are appearance primitives, not mechanical particles or mass. - -Mean source total on the same four training views: **0.005664990 → 0.000168778**. This masked, occlusion-aware objective is not held-out reconstruction or physical accuracy. The black background is an object-only diagnostic; raw full-scene residual panels are not the training objective. - -All three preparation stages and the single saved-output checker returned zero. All 12 saved-view NPZ files, three PLY payloads and three contiguous scalar histories (steps 1–10000) are finite. Populations and strict-opacity counts agree at both trained snapshots, 7000 and 10000. The run and actual prior manifest/mesh match the owner acceptance. - -Actual viewing covered all four final sheets, the loss plot and orbit frames 0/25/50/75/100/125/150/175 of 200; it is not continuous playback. - -This is a hand_A-only push sequence. The preserved temporal review shows support loss near the hand-covered fold and camera-dependent depth differences. The initial appearance does not repair those observations or establish hidden geometry, table contact or dynamics. Geometric proximity does not prove fixed material attachment; that owner decision remains separate before future physical fitting. - -[Reference review](../review_v1/REVIEW.md) · [Numerical and visual findings](appearance_train_v1/review/agent_findings.json) · [Saved summary](appearance_train_v1/review/summary.json) · [Run record](appearance_train_v1/run_record.json) - -## Owner decision - -The owner accepted this exact new static appearance: I approve of all chain priors/appearances - -The initial review above predates this decision. Its limitations remain; physical fitting is separate. [Recorded acceptance](owner_appearance_acceptance.json). diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1.log deleted file mode 100644 index 05447d1ab146cc72e4c3eec06b9df247bf3fac0d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1.log +++ /dev/null @@ -1,57 +0,0 @@ -Found metadata.json file, assuming customized QQTT dataset! [28/10 19:21:58] -Init points from pcd... [28/10 19:21:58] -Init points from mesh... [28/10 19:21:58] -Loading Training Cameras [28/10 19:21:58] -Loading Test Cameras [28/10 19:21:58] -Number of points at initialisation : 132034 [28/10 19:21:59] -Sampling 100000 points from mesh [28/10 19:21:59] -{ - "cameras": [ - { - "id": 0, - "width": 1920, - "height": 1080, - "object_px": 11400, - "occlusion_px": 79286, - "valid_depth_px": 1983413, - "boundary_px": 3779, - "projection_max_error_px": 2.2753754739958987e-05 - }, - { - "id": 1, - "width": 1920, - "height": 1080, - "object_px": 12603, - "occlusion_px": 128854, - "valid_depth_px": 2025969, - "boundary_px": 3448, - "projection_max_error_px": 1.2276666412200493e-06 - }, - { - "id": 2, - "width": 1920, - "height": 1080, - "object_px": 11572, - "occlusion_px": 240159, - "valid_depth_px": 1987227, - "boundary_px": 3623, - "projection_max_error_px": 4.697420033239479e-06 - }, - { - "id": 3, - "width": 1920, - "height": 1080, - "object_px": 7534, - "occlusion_px": 185872, - "valid_depth_px": 1905834, - "boundary_px": 2496, - "projection_max_error_px": 3.4817478249200932e-06 - } - ], - "hybrid": { - "vertex_color_branch": true, - "mesh": 103680, - "observed": 28354, - "total": 132034 - } -} [28/10 19:21:59] diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1_argv.json deleted file mode 100644 index 4048124cffc07bc8b314d86d20e0eb7017016d59..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_gs_train_env/.venv/bin/python", - "scripts/real_rgbd_appearance_train.py", - "check", - "--prior", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", - "--accepted-prior-manifest-sha256", - "33389977150c2861488678e9fa09ed93703918da3816998fec043d5b03584997", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/appearance_check_v1" - ], - "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027", - "environment": { - "PYTHONDONTWRITEBYTECODE": "1", - "MPLBACKEND": "Agg" - }, - "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", - "source_commit": "5e33a51eb977bdc3ab7e51277b87c41a57bd728d" -} \ No newline at end of file diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1_result.json deleted file mode 100644 index 6fd99d7d45bf25573f10713bb0464f1dd2af20a7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1_result.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 2.820866883994313, - "completed_utc": "2026-10-28T23:21:59.661616+00:00", - "source_commit": "5e33a51eb977bdc3ab7e51277b87c41a57bd728d" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_complete.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_complete.json deleted file mode 100644 index 5402d42a0b772155299c5aca8d9cd60acf30de14..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_complete.json +++ /dev/null @@ -1,7 +0,0 @@ -{ - "case_id": "232950", - "phase": "appearance", - "failed_stage": null, - "prep": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2", - "completed_utc": "2026-10-28T23:24:30.944016+00:00" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1.log deleted file mode 100644 index f50f50798be7f5396100097750d4644d9224ecca..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1.log +++ /dev/null @@ -1,32 +0,0 @@ -/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_gs_train_env/.venv/lib/python3.10/site-packages/torch/utils/cpp_extension.py:1965: UserWarning: TORCH_CUDA_ARCH_LIST is not set, all archs for visible cards are included for compilation. -If this is not desired, please set os.environ['TORCH_CUDA_ARCH_LIST']. - warnings.warn( -Found metadata.json file, assuming customized QQTT dataset! [28/10 19:24:19] -Init points from pcd... [28/10 19:24:19] -Init points from mesh... [28/10 19:24:19] -Loading Training Cameras [28/10 19:24:19] -Loading Test Cameras [28/10 19:24:19] -Number of points at initialisation : 132034 [28/10 19:24:19] -Sampling 100000 points from mesh [28/10 19:24:19] -Loading trained model at iteration 7000 [28/10 19:24:21] [28/10 19:24:21] -Found metadata.json file, assuming customized QQTT dataset! [28/10 19:24:21] [28/10 19:24:21] -Init points from pcd... [28/10 19:24:22] [28/10 19:24:22] -Init points from mesh... [28/10 19:24:22] [28/10 19:24:22] -Loading Training Cameras [28/10 19:24:22] [28/10 19:24:22] -Loading Test Cameras [28/10 19:24:22] [28/10 19:24:22] -Sampling 100000 points from mesh [28/10 19:24:22] [28/10 19:24:22] -Loading trained model at iteration 10000 [28/10 19:24:24] [28/10 19:24:24] [28/10 19:24:24] -Found metadata.json file, assuming customized QQTT dataset! [28/10 19:24:24] [28/10 19:24:24] [28/10 19:24:24] -Init points from pcd... [28/10 19:24:24] [28/10 19:24:24] [28/10 19:24:24] -Init points from mesh... [28/10 19:24:24] [28/10 19:24:24] [28/10 19:24:24] -Loading Training Cameras [28/10 19:24:24] [28/10 19:24:24] [28/10 19:24:24] -Loading Test Cameras [28/10 19:24:24] [28/10 19:24:24] [28/10 19:24:24] -Sampling 100000 points from mesh [28/10 19:24:24] [28/10 19:24:24] [28/10 19:24:24] -{ - "snapshots": [ - "0", - "7000", - "10000" - ], - "review": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/appearance_train_v1/review" -} [28/10 19:24:30] [28/10 19:24:30] [28/10 19:24:30] diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1_argv.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1_argv.json deleted file mode 100644 index bc0cab6e17662a89de9a7e913bea5248f59e9662..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1_argv.json +++ /dev/null @@ -1,15 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_gs_train_env/.venv/bin/python", - "scripts/real_rgbd_appearance_review.py", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/appearance_train_v1" - ], - "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027", - "environment": { - "PYTHONDONTWRITEBYTECODE": "1", - "MPLBACKEND": "Agg" - }, - "resource_lock": "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", - "source_commit": "5e33a51eb977bdc3ab7e51277b87c41a57bd728d" -} \ No newline at end of file diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1_result.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1_result.json deleted file mode 100644 index 49f03478285a48efd6fa7c868316b27f409c0c52..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1_result.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 16.04008858499583, - "completed_utc": "2026-10-28T23:24:30.943854+00:00", - "source_commit": "5e33a51eb977bdc3ab7e51277b87c41a57bd728d" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1.log b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1.log deleted file mode 100644 index e4db42918ea6d1f9725e438787d7fdd47c9e6525..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1.log +++ /dev/null @@ -1,19 +0,0 @@ -Optimizing /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/appearance_train_v1/model -Output folder: /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/appearance_train_v1/model [28/10 19:22:01] -Found metadata.json file, assuming customized QQTT dataset! [28/10 19:22:01] -Init points from pcd... [28/10 19:22:01] -Init points from mesh... [28/10 19:22:01] -Loading Training Cameras [28/10 19:22:01] -Loading Test Cameras [28/10 19:22:01] -Number of points at initialisation : 132034 [28/10 19:22:01] -Sampling 100000 points from mesh [28/10 19:22:01] - Training progress: 0%| | 0/10000 [00:000.1", - "owner_decision": "accepted", - "physical_fitting": "not authorized by this request", - "candidate": "stronger_reprojection", - "acceptance_record": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/owner_appearance_acceptance.json" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/track_report.json b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/track_report.json deleted file mode 100644 index bb0827f673f4d9b7ad975be610e7e6b5582c35de..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/track_report.json +++ /dev/null @@ -1,111 +0,0 @@ -{ - "checkpoint": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/checkpoints/tapnextpp_512.ckpt", - "checkpoint_sha256": "6cd0e793fdcface3063d63f8ed3819bcf74c2c0468fe1fef85acee4de2f3609f", - "fork_commit": "454041f7eb110a3eeabf9743cd97f119ed91fb8e", - "load_report": { - "checkpoint_path": "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/checkpoints/tapnextpp_512.ckpt", - "checkpoint_top_level_keys": [ - "epoch", - "global_step", - "pytorch-lightning_version", - "state_dict", - "loops", - "callbacks", - "optimizer_states", - "lr_schedulers", - "fit_loop", - "optimization_steps", - "training_batches", - "lr_scheduler_states", - "cfg" - ], - "checkpoint_variant": "tapnextpp_512", - "image_size_hw": [ - 256, - 256 - ], - "load_ok": true, - "missing_keys": [], - "model_class": "tapnet.tapnext.tapnext_torch.TAPNext", - "num_state_dict_tensors": 401, - "rgb_input_size_hw": [ - 512, - 512 - ], - "state_dict_prefix_stripped": "tapnext.", - "strict_load": true, - "unexpected_keys": [] - }, - "schema": "real_rgbd_rt2_tapnextpp_512_run_v1", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json", - "selected_frames_sha256": "543c217803612ce1db97e158e4d388e860053ed386a1ce07c3207c9f7b00ac9e", - "selected_session": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232950_841214", - "signed_native_frames": null, - "signed_native_frames_sha256": null, - "views": [ - { - "crop_xyxy": [ - 223, - 185, - 1118, - 1080 - ], - "frames": 209, - "queries": 5000, - "saved_query_product_sha256": "c2bdf57235cab56e006a246fe213faf96d22ab4ecca3ee4d2a4143ee8e1b4b69", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/frames_waft/cameras/12540311/inspection/frames.npz", - "selected_frames_sha256": "a5622368102adc153ec009f329369d35107c7f7ac85d9fc9ac0ea02de0288d48", - "serial": "12540311", - "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/12540311/inspection/frames.npz", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12540311.npz" - }, - { - "crop_xyxy": [ - 697, - 182, - 1532, - 1017 - ], - "frames": 209, - "queries": 5000, - "saved_query_product_sha256": "0819b373f2cdfb8764c295d7b1e7e7cba876bb4d35c8832191fc8f4666292cb5", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/frames_waft/cameras/12933256/inspection/frames.npz", - "selected_frames_sha256": "9e3018c263f357b4a6c31624121e239723dc97d32998bc5aa7d958e64811b9c2", - "serial": "12933256", - "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/12933256/inspection/frames.npz", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12933256.npz" - }, - { - "crop_xyxy": [ - 493, - 174, - 1338, - 1019 - ], - "frames": 209, - "queries": 5000, - "saved_query_product_sha256": "bc1df526ea3b18146346f64ffc5b134329819936284ec457bd154fb02726c982", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/frames_waft/cameras/17736741/inspection/frames.npz", - "selected_frames_sha256": "1b8bc8b72e2daf46901a8bd17a6b5658a1d50d20eb7e335b7b9fc34c8aa3874f", - "serial": "17736741", - "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/17736741/inspection/frames.npz", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_17736741.npz" - }, - { - "crop_xyxy": [ - 822, - 294, - 1596, - 1068 - ], - "frames": 209, - "queries": 5000, - "saved_query_product_sha256": "0cd22cc24ee654c4d9098ce177787e114b0364268127a29aab63a5dbb43baafc", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/frames_waft/cameras/23007103/inspection/frames.npz", - "selected_frames_sha256": "781ce243bb860119b981dcf236b88649df28037126be3f1591c9f55193f00465", - "serial": "23007103", - "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/native_inputs/cameras/23007103/inspection/frames.npz", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0220-0428/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_23007103.npz" - } - ] -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_12540311.npz b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_12540311.npz deleted file mode 100644 index d380193c930df916c5a0cdc0efcf537870e9c04a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_12540311.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:13d6bcd6a7cf30c8f3b5f6e4aeb7bf733b460240a833f516d294530ed760ae68 -size 33174668 diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_12933256.npz b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_12933256.npz deleted file mode 100644 index 989167ddb186db3108cec6d5650295110d638007..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_12933256.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:65a5e05750d1668a4f6bd87598604ab3474e9a211bcc0893cd2fe5f08e3d7798 -size 33174668 diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_17736741.npz b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_17736741.npz deleted file mode 100644 index 154563f21277075370b593d0512404981877f7f8..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_17736741.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:98d45af607a71ce602673e4283c46deff8cc7b17eb886e5d976b3c7462bca1f1 -size 33174668 diff --git a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_23007103.npz b/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_23007103.npz deleted file mode 100644 index bbdc343cd9e100f9908c9611fbff519b08de5882..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/chain-stronger-reprojection-v2/native/tapnextpp_tracks/tracks_23007103.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e80628eb2122c1da0420220e35506330b002df48e310095d0914ee1d47fa0533 -size 33174668 diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/C6A_REVIEW.md b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/C6A_REVIEW.md deleted file mode 100644 index 85eacc2745c9821491e71f10fd5190756dca2bb4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/C6A_REVIEW.md +++ /dev/null @@ -1,36 +0,0 @@ -# session_20260921_232950_841214: C6a proposal review - -**Status: agent proposal; owner mask/window/contact decisions pending.** - -Object: bike chain. Motion: right-handed push along table. -Current packet anchor converted frames: **222–436 inclusive**. -Current packet endpoint sync timestamps: `1790047822529873416` / `1790047829685933454` ns. -Participating identities: `hand_A`; 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_232950_841214/window_proposal_c1/proposal.json`. - -## Exact own-camera mapping - -| Camera | Window-local t | Converted frames | Native container frames | First / last capture timestamp ns | -|---|---|---|---|---| -| 12540311 | 0–214 | 222–436 | 223–437 | 1790047822529873416 / 1790047829685933454 | -| 12933256 | 0–214 | 221–435 | 222–436 | 1790047822514765481 / 1790047829675850439 | -| 17736741 | 0–214 | 221–435 | 222–436 | 1790047822515917236 / 1790047829675769509 | -| 23007103 | 0–214 | 222–436 | 223–437 | 1790047822532448373 / 1790047829690048287 | - -## 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: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12540311_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12540311_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12540311_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12540311_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12540311_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12540311_v1/boundary_end.mp4). -- Views 12933256: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12933256_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12933256_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12933256_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12933256_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12933256_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_12933256_v1/boundary_end.mp4). -- Views 17736741: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_17736741_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_17736741_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_17736741_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_17736741_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_17736741_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_17736741_v1/boundary_end.mp4). -- Views 23007103: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_23007103_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_23007103_v1/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_23007103_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_23007103_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_23007103_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_grasp_23007103_v1/boundary_end.mp4). -- Views 12540311: [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_head_local_sparse_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_head_local_sparse_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_head_local_sparse_v1/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_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/SPARSE_PROMPT_REVISION.md b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/SPARSE_PROMPT_REVISION.md deleted file mode 100644 index d26cb8983a0b6a48c58101cb433b4f131eb6e5a0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/SPARSE_PROMPT_REVISION.md +++ /dev/null @@ -1 +0,0 @@ -Owner requested at most five total positive/negative points per SAM2 prompt on 2026-10-27. Unexecuted initial proposal now equals proposal_prompts_c6a_sparse_v1.json; prior draft preserved in proposal_prompts_c6a_before_owner_sparse.json. Native coordinates, boxes, physical hands and captures unchanged; masks remain unaccepted. diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/hand_A/t0000_v01.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/hand_A/t0000_v01.json deleted file mode 100644 index 7176f3b7e2c551a0154df76ee97e31ff4905b7f1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/hand_A/t0000_v01.json +++ /dev/null @@ -1,105 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_232950_841214", - "window_sha256": "78cb0e080faa1820886ed29f9b007b352db12820c7d87a17124502d3b583bb5f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 436 - ], - "anchor_time_ns_first_last": [ - 1790047822529873416, - 1790047829685933454 - ], - "frame_association_mode": "per_camera_native_range" - }, - "serial": "12540311", - "view_index": 0, - "instance": "hand_A", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 222, - "official_frame_index": 222, - "native_container_frame_index": 223, - "view_time_ns": 1790047822529873416 - }, - "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": [ - [ - 315.0, - 756.0 - ], - [ - 468.0, - 727.0 - ], - [ - 583.0, - 718.0 - ], - [ - 417.0, - 743.0 - ], - [ - 230.0, - 790.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 245.0, - 655.0, - 635.0, - 832.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Right bracelet hand: visible bare forearm, hand and fingers; exclude bracelet, sleeve and chain. 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": "df84d3060c243e13e962d20667023aa5928b8db067f23b19a2b93e8a333649f3", - "seed_mask_pixels": 30435, - "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": "2026-10-28T00:11:41Z" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz deleted file mode 100644 index 660faa405c2e204436fbd37ea94982ff6e6c049c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:df84d3060c243e13e962d20667023aa5928b8db067f23b19a2b93e8a333649f3 -size 1920 diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/hand_B/t0000_v01.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/hand_B/t0000_v01.json deleted file mode 100644 index 406089c7ef4d41d82515b8a716bb0e331fdc50bf..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/hand_B/t0000_v01.json +++ /dev/null @@ -1,56 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_232950_841214", - "window_sha256": "78cb0e080faa1820886ed29f9b007b352db12820c7d87a17124502d3b583bb5f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 436 - ], - "anchor_time_ns_first_last": [ - 1790047822529873416, - 1790047829685933454 - ], - "frame_association_mode": "per_camera_native_range" - }, - "serial": "12540311", - "view_index": 0, - "instance": "hand_B", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 222, - "official_frame_index": 222, - "native_container_frame_index": 223, - "view_time_ns": 1790047822529873416 - }, - "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": [], - "labels": [], - "box_uv": null, - "source": "agent:c6a_20261027", - "note": "Agent draft absence over [0,215): one participating hand, the right bracelet hand_A. The nonparticipating left hand, where visible, is included in occluder. 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": "2026-10-28T00:11:41Z", - "reviewed_absence_half_open": [ - 0, - 215 - ] -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/object/t0000_v01.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/object/t0000_v01.json deleted file mode 100644 index 1dcb44973bc64674142938b2b4e85d399888e5d4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/object/t0000_v01.json +++ /dev/null @@ -1,105 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_232950_841214", - "window_sha256": "78cb0e080faa1820886ed29f9b007b352db12820c7d87a17124502d3b583bb5f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 436 - ], - "anchor_time_ns_first_last": [ - 1790047822529873416, - 1790047829685933454 - ], - "frame_association_mode": "per_camera_native_range" - }, - "serial": "12540311", - "view_index": 0, - "instance": "object", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 222, - "official_frame_index": 222, - "native_container_frame_index": 223, - "view_time_ns": 1790047822529873416 - }, - "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": [ - [ - 750.0, - 583.0 - ], - [ - 874.0, - 690.0 - ], - [ - 668.0, - 792.0 - ], - [ - 750.0, - 680.0 - ], - [ - 585.0, - 725.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 610.0, - 565.0, - 890.0, - 810.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Visible chain links only; exclude loop interior, table, shadows and the touching right index finger. Own converted frame 222. 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": "78db53cc010e4531f12bbe98401111f4368f6a538ee7a3c9cf00edff8dd4434a", - "seed_mask_pixels": 11364, - "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": "2026-10-28T00:11:41Z" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz deleted file mode 100644 index a40de3ef954af5cc31ef45e1247f8cf235739ce5..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:78db53cc010e4531f12bbe98401111f4368f6a538ee7a3c9cf00edff8dd4434a -size 2315 diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/occluder/t0000_v01.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/occluder/t0000_v01.json deleted file mode 100644 index 4e70b8f459757c1ef9e6cdc56dbf7b9851c25f3a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12540311/occluder/t0000_v01.json +++ /dev/null @@ -1,105 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_232950_841214", - "window_sha256": "78cb0e080faa1820886ed29f9b007b352db12820c7d87a17124502d3b583bb5f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 436 - ], - "anchor_time_ns_first_last": [ - 1790047822529873416, - 1790047829685933454 - ], - "frame_association_mode": "per_camera_native_range" - }, - "serial": "12540311", - "view_index": 0, - "instance": "occluder", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 222, - "official_frame_index": 222, - "native_container_frame_index": 223, - "view_time_ns": 1790047822529873416 - }, - "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": [ - [ - 110.0, - 790.0 - ], - [ - 320.0, - 750.0 - ], - [ - 417.0, - 743.0 - ], - [ - 490.0, - 740.0 - ], - [ - 610.0, - 720.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1 - ], - "box_uv": [ - 0.0, - 655.0, - 640.0, - 925.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; All visible person pixels: right sleeve, bracelet, bare forearm, hand and fingers. The left hand is out of view. Sparse owner-method revision: at most five total positive/negative points; whole-person occluder includes clothing and accessories. 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Agent draft only, pending preview and owner review.", - "seed_mask_file": "t0000_v01_seed_mask.npz", - "seed_mask_sha256": "2b8a54a5e85695514bcfc39e9af87bbd7ea931cdeb1c07b74a2b53ff85cc93f5", - "seed_mask_pixels": 30189, - "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": "2026-10-28T00:12:16Z" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz deleted file mode 100644 index 9b6dd71e154ca8de017748408e8bd5fc0998a224..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2b8a54a5e85695514bcfc39e9af87bbd7ea931cdeb1c07b74a2b53ff85cc93f5 -size 2104 diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/hand_B/t0000_v01.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/hand_B/t0000_v01.json deleted file mode 100644 index fc15d4b1f154d0bb7d8ca61c22e5e4ee15347010..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/hand_B/t0000_v01.json +++ /dev/null @@ -1,56 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_232950_841214", - "window_sha256": "78cb0e080faa1820886ed29f9b007b352db12820c7d87a17124502d3b583bb5f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 436 - ], - "anchor_time_ns_first_last": [ - 1790047822529873416, - 1790047829685933454 - ], - "frame_association_mode": "per_camera_native_range" - }, - "serial": "12933256", - "view_index": 1, - "instance": "hand_B", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 221, - "official_frame_index": 221, - "native_container_frame_index": 222, - "view_time_ns": 1790047822514765481 - }, - "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": [], - "labels": [], - "box_uv": null, - "source": "agent:c6a_20261027", - "note": "Agent draft absence over [0,215): one participating hand, the right bracelet hand_A. The nonparticipating left hand, where visible, is included in occluder. 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": "2026-10-28T00:12:16Z", - "reviewed_absence_half_open": [ - 0, - 215 - ] -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/object/t0000_v01.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/object/t0000_v01.json deleted file mode 100644 index b4d68efe08941dd7c6e4697b12d00ecee005a612..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/object/t0000_v01.json +++ /dev/null @@ -1,105 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_232950_841214", - "window_sha256": "78cb0e080faa1820886ed29f9b007b352db12820c7d87a17124502d3b583bb5f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 436 - ], - "anchor_time_ns_first_last": [ - 1790047822529873416, - 1790047829685933454 - ], - "frame_association_mode": "per_camera_native_range" - }, - "serial": "12933256", - "view_index": 1, - "instance": "object", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 221, - "official_frame_index": 221, - "native_container_frame_index": 222, - "view_time_ns": 1790047822514765481 - }, - "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": [ - [ - 980.0, - 588.0 - ], - [ - 934.0, - 729.0 - ], - [ - 866.0, - 674.0 - ], - [ - 974.0, - 651.0 - ], - [ - 1140.0, - 667.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 831.0, - 575.0, - 1147.0, - 744.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Visible chain links only; exclude loop interior, table and right index finger. 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Agent draft only, pending preview and owner review.", - "seed_mask_file": "t0000_v01_seed_mask.npz", - "seed_mask_sha256": "9ca6a37b99cbbc2c91b874db6caca566db2419967eefba10e3ebcec09af938b0", - "seed_mask_pixels": 12592, - "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": "2026-10-28T00:12:15Z" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/object/t0000_v01_seed_mask.npz b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/object/t0000_v01_seed_mask.npz deleted file mode 100644 index c9acf0a84a27729ea6b1aefdd2a10b5c91a61b3b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/object/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9ca6a37b99cbbc2c91b874db6caca566db2419967eefba10e3ebcec09af938b0 -size 2103 diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/occluder/t0000_v01.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/occluder/t0000_v01.json deleted file mode 100644 index 8ae3fb7ed591a5c66a05d9fb554bd1df34943981..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/occluder/t0000_v01.json +++ /dev/null @@ -1,105 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_232950_841214", - "window_sha256": "78cb0e080faa1820886ed29f9b007b352db12820c7d87a17124502d3b583bb5f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 436 - ], - "anchor_time_ns_first_last": [ - 1790047822529873416, - 1790047829685933454 - ], - "frame_association_mode": "per_camera_native_range" - }, - "serial": "12933256", - "view_index": 1, - "instance": "occluder", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 221, - "official_frame_index": 221, - "native_container_frame_index": 222, - "view_time_ns": 1790047822514765481 - }, - "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": [ - [ - 1140.0, - 667.0 - ], - [ - 1306.0, - 650.0 - ], - [ - 1400.0, - 610.0 - ], - [ - 1550.0, - 560.0 - ], - [ - 1870.0, - 470.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1 - ], - "box_uv": [ - 1090.0, - 260.0, - 1919.0, - 730.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; All visible person pixels: right hand, bracelet, forearm and black sleeve/body entering from the right; exclude robot and support poles. 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": "c8d1dfb094dc148b57e9e00ae8a45e11379340cca54912820842f729d236e3f1", - "seed_mask_pixels": 120624, - "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": "2026-10-28T00:12:16Z" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/occluder/t0000_v01_seed_mask.npz b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/occluder/t0000_v01_seed_mask.npz deleted file mode 100644 index 7fcf604982111ee2f16234bd4dcb96cf65e38454..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/12933256/occluder/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c8d1dfb094dc148b57e9e00ae8a45e11379340cca54912820842f729d236e3f1 -size 3489 diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/hand_A/t0000_v01.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/hand_A/t0000_v01.json deleted file mode 100644 index 554c1579e2cdacfe77ac740e1489bf28f2a8042a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/hand_A/t0000_v01.json +++ /dev/null @@ -1,105 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_232950_841214", - "window_sha256": "78cb0e080faa1820886ed29f9b007b352db12820c7d87a17124502d3b583bb5f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 436 - ], - "anchor_time_ns_first_last": [ - 1790047822529873416, - 1790047829685933454 - ], - "frame_association_mode": "per_camera_native_range" - }, - "serial": "17736741", - "view_index": 2, - "instance": "hand_A", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 221, - "official_frame_index": 221, - "native_container_frame_index": 222, - "view_time_ns": 1790047822515917236 - }, - "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": [ - [ - 580.0, - 481.0 - ], - [ - 715.0, - 523.0 - ], - [ - 830.0, - 565.0 - ], - [ - 673.0, - 503.0 - ], - [ - 500.0, - 479.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 520.0, - 430.0, - 870.0, - 610.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Right bracelet hand: bare forearm, hand and extended index finger; exclude bracelet, sleeve and chain. 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": "4eae608b937aafd6345f7374fc2282d7d9077a3a46a65c43bc348de1ef312600", - "seed_mask_pixels": 23075, - "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": "2026-10-28T00:15:31Z" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz deleted file mode 100644 index 2315f058e8f799fd51285df66c9b7a84b5a487c2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4eae608b937aafd6345f7374fc2282d7d9077a3a46a65c43bc348de1ef312600 -size 1891 diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/hand_B/t0000_v01.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/hand_B/t0000_v01.json deleted file mode 100644 index 073b507e25424c1dbb56a496c233f2c668b08552..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/hand_B/t0000_v01.json +++ /dev/null @@ -1,56 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_232950_841214", - "window_sha256": "78cb0e080faa1820886ed29f9b007b352db12820c7d87a17124502d3b583bb5f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 436 - ], - "anchor_time_ns_first_last": [ - 1790047822529873416, - 1790047829685933454 - ], - "frame_association_mode": "per_camera_native_range" - }, - "serial": "17736741", - "view_index": 2, - "instance": "hand_B", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 221, - "official_frame_index": 221, - "native_container_frame_index": 222, - "view_time_ns": 1790047822515917236 - }, - "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": [], - "labels": [], - "box_uv": null, - "source": "agent:c6a_20261027", - "note": "Agent draft absence over [0,215): one participating hand, the right bracelet hand_A. The nonparticipating left hand, where visible, is included in occluder. 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": "2026-10-28T00:15:31Z", - "reviewed_absence_half_open": [ - 0, - 215 - ] -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/object/t0000_v01.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/object/t0000_v01.json deleted file mode 100644 index e168e400e4944115209929838ffda6634e2a7d79..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/object/t0000_v01.json +++ /dev/null @@ -1,105 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_232950_841214", - "window_sha256": "78cb0e080faa1820886ed29f9b007b352db12820c7d87a17124502d3b583bb5f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 436 - ], - "anchor_time_ns_first_last": [ - 1790047822529873416, - 1790047829685933454 - ], - "frame_association_mode": "per_camera_native_range" - }, - "serial": "17736741", - "view_index": 2, - "instance": "object", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 221, - "official_frame_index": 221, - "native_container_frame_index": 222, - "view_time_ns": 1790047822515917236 - }, - "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": [ - [ - 995.0, - 481.0 - ], - [ - 1050.0, - 650.0 - ], - [ - 840.0, - 615.0 - ], - [ - 970.0, - 570.0 - ], - [ - 830.0, - 565.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 828.0, - 467.0, - 1128.0, - 680.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Visible chain links only; exclude loop interior, table and touching right finger. 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Agent draft only, pending preview and owner review.", - "seed_mask_file": "t0000_v01_seed_mask.npz", - "seed_mask_sha256": "57c9ef0df3fb8f6b22d2e8e9b0a9755258eda8b4b02556d4708714e83f3edbd4", - "seed_mask_pixels": 11687, - "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": "2026-10-28T00:15:31Z" -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/object/t0000_v01_seed_mask.npz b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/object/t0000_v01_seed_mask.npz deleted file mode 100644 index d56502f5eae5412c3ca1c732dbee3ef5447b6d58..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/object/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:57c9ef0df3fb8f6b22d2e8e9b0a9755258eda8b4b02556d4708714e83f3edbd4 -size 2274 diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/occluder/t0000_v01.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/occluder/t0000_v01.json deleted file mode 100644 index 871fa72ecf780c9750e75bc062aeb76956a7e907..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/annotations/prompts/17736741/occluder/t0000_v01.json +++ /dev/null @@ -1,105 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_232950_841214", - "window_sha256": "78cb0e080faa1820886ed29f9b007b352db12820c7d87a17124502d3b583bb5f", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 436 - ], - "anchor_time_ns_first_last": [ - 1790047822529873416, - 1790047829685933454 - ], - "frame_association_mode": "per_camera_native_range" - }, - "serial": "17736741", - "view_index": 2, - "instance": "occluder", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 221, - "official_frame_index": 221, - "native_container_frame_index": 222, - "view_time_ns": 1790047822515917236 - }, - "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": [ - [ - 90.0, - 360.0 - ], - [ - 501.0, - 225.0 - ], - [ - 673.0, - 503.0 - ], - [ - 804.0, - 561.0 - ], - [ - 350.0, - 100.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 0 - ], - "box_uv": [ - 0.0, - 0.0, - 870.0, - 780.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; All visible person pixels, including cropped torso, both sleeves, active right arm and resting left hand at the table edge. Resting left hand belongs only to occluder, not active hand_B. Sparse owner-method revision: at most five total positive/negative points; whole-person occluder includes clothing and accessories. 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a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/masks/23007103/occluder/run0001_t0000-0215.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fb87419d5dd4446a7fffa7c440b94452cc3e3fd6a1cde80ae3bcf4cf86cd741a -size 802973 diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/phystwin_window.yaml b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/phystwin_window.yaml deleted file mode 100644 index c5b98b5892cc8f098fc7d5646a70e92270fcc350..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/phystwin_window.yaml +++ /dev/null @@ -1,87 +0,0 @@ -schema_version: 1 -kind: phystwin_interaction_window -session: - path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232950_841214 - session_id: session_20260921_232950_841214 -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_232950_841214 - --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: 33451679 - fps_estimate: 29.893866 -manual_annotation: - start_global_timestamp_ns: 1790047822529873416 - end_global_timestamp_ns: 1790047829685933454 - 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. Push-contact interval. Start: the extended index fingertip has a - small gap to the chain''s near (left) strand at 218-220, overlaps it at 221-222, - and the strand visibly indents around the fingertip from 223 on (start_zoom_12540311_218-227.jpg); - 222 used. End: forward push continues to 436 with fingers seated inside the collapsed - loop; from 437 the fingers retract, sliding back out of the loop (437-443), and - are clear of the chain by 444 (end_12540311_stride1_432-450.jpg). 436 = last frame - before the retraction/contact break.' -resolved_window: - start_sync_index: 221 - end_sync_index_exclusive: 436 - start_anchor_timestamp_ns: 1790047822529873416 - end_anchor_timestamp_ns: 1790047829685933454 - frame_count: 215 - duration_s: 7.15606 -per_camera_resolution: - '12540311': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 437 - start_source_timestamp_ns: 1790047822529873416 - end_source_timestamp_ns: 1790047829685933454 - start_delta_ns: 0 - end_delta_ns: 0 - '12933256': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 436 - start_source_timestamp_ns: 1790047822514765481 - end_source_timestamp_ns: 1790047829675850439 - start_delta_ns: -15107935 - end_delta_ns: -10083015 - '17736741': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 436 - start_source_timestamp_ns: 1790047822515917236 - end_source_timestamp_ns: 1790047829675769509 - start_delta_ns: -13956180 - end_delta_ns: -10163945 - '23007103': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 437 - start_source_timestamp_ns: 1790047822532448373 - end_source_timestamp_ns: 1790047829690048287 - start_delta_ns: 2574957 - end_delta_ns: 4114833 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 15107935 - warnings: [] -created_by: manual -created_at: '2026-10-27T19:28:50+00:00' -updated_at: '2026-10-27T19:28:50+00:00' - diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/preview_c6a_head_local_sparse_v1.log b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/preview_c6a_head_local_sparse_v1.log deleted file mode 100644 index 97445b6a277ce69219aade8171efa7674c2ad485..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/preview_c6a_head_local_sparse_v1.log +++ /dev/null @@ -1,2 +0,0 @@ -12540311/occluder t=0: 73813 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/correction_preview_c6a_head_local_sparse_v1/12540311/occluder_t0000.png -12540311/occluder t=160: 237232 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/correction_preview_c6a_head_local_sparse_v1/12540311/occluder_t0160.png diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/preview_c6a_head_local_sparse_v1_argv.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/preview_c6a_head_local_sparse_v1_argv.json deleted file mode 100644 index 459bbc63795b4bead126c66a6db572f51979c0ff..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/preview_c6a_head_local_sparse_v1_argv.json +++ /dev/null @@ -1,20 +0,0 @@ -[ - "/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_232950_841214", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/proposal_occluder_c6a_head_local_sparse_v1.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/correction_preview_c6a_head_local_sparse_v1", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda", - "--preview-only" -] diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/preview_c6a_head_local_sparse_v1_result.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/preview_c6a_head_local_sparse_v1_result.json deleted file mode 100644 index 1386ed3de1a9b936d6433799f04656f6692147d2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/preview_c6a_head_local_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 8.8042151927948, - "accepted": false -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/propagate_12540311_occluder_c6a_head_local_sparse_v1.log b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/propagate_12540311_occluder_c6a_head_local_sparse_v1.log deleted file mode 100644 index 8faf96439f4e37dbb9532c2cebb52f8e0695f574..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/propagate_12540311_occluder_c6a_head_local_sparse_v1.log +++ /dev/null @@ -1,3 +0,0 @@ - propagate in video: 0%| | 0/215 [00:00 /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/correction_overlays_c6a_head_local_sparse_v1/12540311/occluder_t0000.png -12540311/occluder t=160: 237232 seed px -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/correction_overlays_c6a_head_local_sparse_v1/12540311/occluder_t0160.png diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/propose_c6a_head_local_sparse_v1_argv.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/propose_c6a_head_local_sparse_v1_argv.json deleted file mode 100644 index ee3aa2692b12376856c865ed48bf95314a0cf0a0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/propose_c6a_head_local_sparse_v1_argv.json +++ /dev/null @@ -1,19 +0,0 @@ -[ - "/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_232950_841214", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/inspection/frames.npz", - "--proposal", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/proposal_occluder_c6a_head_local_sparse_v1.json", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/annotations", - "--overlays", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/correction_overlays_c6a_head_local_sparse_v1", - "--checkpoint", - "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt", - "--device", - "cuda" -] diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/propose_c6a_head_local_sparse_v1_result.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/propose_c6a_head_local_sparse_v1_result.json deleted file mode 100644 index 3e95c3c13b4fbfdbb5ae931f7e2715a8b932f4ab..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/propose_c6a_head_local_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 8.274181604385376, - "accepted": false -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/review_c6a_head_local_sparse_v1.log b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/review_c6a_head_local_sparse_v1.log deleted file mode 100644 index f28517a18908013085d93e4e31fb4dad050a60ed..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/review_c6a_head_local_sparse_v1.log +++ /dev/null @@ -1 +0,0 @@ -Wrote 1 role videos, 5 sheets and boundary clips to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_head_local_sparse_v1 diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/review_c6a_head_local_sparse_v1_argv.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/review_c6a_head_local_sparse_v1_argv.json deleted file mode 100644 index a3d36e3b6cce61ea1ccd9987e3895547f3c05d1c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/review_c6a_head_local_sparse_v1_argv.json +++ /dev/null @@ -1,29 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "scripts/phystwin_real_rgbd.py", - "review-media", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_232950_841214", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/inspection/frames.npz", - "--annotations", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/annotations", - "--masks", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/masks", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/review_media_c6a_head_local_sparse_v1", - "--view", - "12540311", - "--instance", - "occluder", - "--t", - "0", - "--t", - "53", - "--t", - "107", - "--t", - "161", - "--t", - "214" -] diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/review_c6a_head_local_sparse_v1_result.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/review_c6a_head_local_sparse_v1_result.json deleted file mode 100644 index 712a9873bcdc18e97f13d0956de5a683d340d52a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/review_c6a_head_local_sparse_v1_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 20.753851175308228, - "accepted": false -} diff --git a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/window_command.json b/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/window_command.json deleted file mode 100644 index 647f4cd74a3d2408dc737476157d2f1f73abde21..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_232950_841214/preprocessing/mask-supplier-window-anchor0222-0436/native/window_command.json +++ /dev/null @@ -1,22 +0,0 @@ -[ - "/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_232950_841214", - "--anchor-serial", - "12540311", - "--start-timestamp-ns", - "1790047822529873416", - "--end-timestamp-ns", - "1790047829685933454", - "--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. Push-contact interval. Start: the extended index fingertip has a small gap to the chain's near (left) strand at 218-220, overlaps it at 221-222, and the strand visibly indents around the fingertip from 223 on (start_zoom_12540311_218-227.jpg); 222 used. End: forward push continues to 436 with fingers seated inside the collapsed loop; from 437 the fingers retract, sliding back out of the loop (437-443), and are clear of the chain by 444 (end_12540311_stride1_432-450.jpg). 436 = last frame before the retraction/contact break.", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232950_841214/window_anchor0222-0436/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/C6A_REVIEW.md b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/C6A_REVIEW.md deleted file mode 100644 index be9662a73cec2b2f4c802c19305221bb7e990171..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/C6A_REVIEW.md +++ /dev/null @@ -1,81 +0,0 @@ -# session_20260921_233045_819927: selected-window mask review - -**stronger-reprojection prior accepted; fresh mechanical/static-appearance preparation complete and reviewed; owner accepted.** - -Owner-selected anchor camera 12540311 converted frames: **256–546 inclusive**. -Object: bike chain. Motion: right-handed grasp lifting completely off table, tilt hand and object allowing collapsing of chain, then put down. -Participating controllers: `hand_A`. A is the right bracelet hand; B is the left hand. -Hand masks cover visible bare forearm through fingertips and exclude sleeve/bracelet. The occluder covers the whole visible person, clothing, accessories and nonparticipating hands. - -[Recorded owner window decision](owner_window_decision.json) and [2026-10-28 owner mask review](owner_mask_acceptance_c6a_selected_20261028.json). Accept the reviewed object, hand_A, hand_B and whole-person occluder masks in all four cameras on the owner-selected window for reference input preparation. Prior, appearance and push fixed-attachment decisions remain separate. - -## Four-camera tiled videos - -Each video shows all four cameras in a 2×2 layout: **12540311 / 12933256** above **17736741 / 23007103**. - -[Object](review_tiled_c6a_20261028/role_object.mp4) · [Right hand A](review_tiled_c6a_20261028/role_hand_A.mp4) · [Left hand B](review_tiled_c6a_20261028/role_hand_B.mp4) · [Whole person](review_tiled_c6a_20261028/role_occluder.mp4) - -Playback is 10 frames/s for inspection. Views are associated by recorded timestamps; every native capture appears, with repeated tiles where needed. Labels show each camera’s selected-local, converted and native frame numbers, capture timestamp and offset from the display event. This is a display association, not a change to the masks or selected windows. - -[Exact displayed capture mapping](review_tiled_c6a_20261028/media_index.json). - -## Exact own-camera mapping - -| Camera | Selected-local t | Converted frames | Native container frames | First / last capture timestamp ns | -|---|---|---|---|---| -| 12540311 | 0–290 | 256–546 | 257–547 | 1790047879385946319 / 1790047889122513771 | -| 12933256 | 0–290 | 255–545 | 256–546 | 1790047879386015959 / 1790047889121617886 | -| 17736741 | 0–291 | 256–547 | 257–548 | 1790047879381342359 / 1790047889121700171 | -| 23007103 | 0–292 | 255–547 | 256–548 | 1790047879375651226 / 1790047889139083835 | - -[Selected native input manifest](native_inputs/per_camera_inputs.json) and [exact source-mask row selection](mask_review_selection.json). Only each product’s named owning column is admitted; other columns are display associations. - -## Selected-window role clips - -Clips play every selected capture at 10 frames/s and retain the source capture timestamps. The first label uses selected-local `t`; each camera has its own count. The native mask arrays remain unchanged in the source packets. - -| Camera | Object | Right hand A | Left hand B | Whole person | -|---|---|---|---|---| -| 12540311 | [object](review_media_owner_window_20261028/12540311/role_object.mp4) | [hand_A](review_media_owner_window_20261028/12540311/role_hand_A.mp4) | [hand_B](review_media_owner_window_20261028/12540311/role_hand_B.mp4) | [occluder](review_media_owner_window_20261028/12540311/role_occluder.mp4) | -| 12933256 | [object](review_media_owner_window_20261028/12933256/role_object.mp4) | [hand_A](review_media_owner_window_20261028/12933256/role_hand_A.mp4) | [hand_B](review_media_owner_window_20261028/12933256/role_hand_B.mp4) | [occluder](review_media_owner_window_20261028/12933256/role_occluder.mp4) | -| 17736741 | [object](review_media_owner_window_20261028/17736741/role_object.mp4) | [hand_A](review_media_owner_window_20261028/17736741/role_hand_A.mp4) | [hand_B](review_media_owner_window_20261028/17736741/role_hand_B.mp4) | [occluder](review_media_owner_window_20261028/17736741/role_occluder.mp4) | -| 23007103 | [object](review_media_owner_window_20261028/23007103/role_object.mp4) | [hand_A](review_media_owner_window_20261028/23007103/role_hand_A.mp4) | [hand_B](review_media_owner_window_20261028/23007103/role_hand_B.mp4) | [occluder](review_media_owner_window_20261028/23007103/role_occluder.mp4) | - -[First / middle / last person-mask readback](review_media_owner_window_20261028/occluder_first_middle_last.jpg) and [media selection/admission record](review_media_owner_window_20261028/media_index.json). - -## Existing evidence and remaining review - -[Earlier packet and boundary context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/C6A_REVIEW.md) remain available; their old interval is historical. The existing mask quality findings remain relevant where their captures are retained. A trim does not correct mask defects or constitute a new full-playback mask review. - - -[Reference review complete](accepted_input_preparation_c6a_v1/review_v1/REVIEW.md): initial cloud supports currentC2 prior preparation. Camera125 has no admitted object points at native-relative172–248; later missing arcs remain a physical-fitting limitation. Initial prior preparation is running. - -The prior review is complete; owner acceptance is pending. [Review packet](accepted_input_preparation_c6a_v1/prior_review_v1/PRIOR_REVIEW_c6a_v1.md). Physical fitting remains outside scope. - -Owner requested a separate18-control, curvature5e-9 prior on2026-10-28. The current nine-control prior is preserved and remains unaccepted. New candidate review will follow. - -## Requested18-control prior review - -Numerical and visual review is complete. [Review packet](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md) retains nearly unchanged3D residual, lower mean reprojection, soft-length excess0.575mm and later reference limitations. Owner prior acceptance is pending. - -## Current owner decision: chain prior held - -On 2026-10-28 the owner revoked all bike-chain prior acceptances and requested one shared fitting recipe across all five sessions, investigating lower curvature cost and/or higher mask reprojection cost. All earlier approvals and outputs remain historical evidence; dependent preparation is held. The owner subsequently authorized the two shared candidates below; selection remains pending. - -## Shared chain-prior candidates, 2026-10-28 - -Both full candidates are complete and reviewed. [Five-case comparison](): 18 controls with curvature/reprojection 5e-10/4 or 5e-9/8, compared with the retained 5e-9/4 baseline. Earlier prior acceptances remain revoked. No new dependent preparation is authorized by completion. - -## Owner selection: stronger reprojection - -The owner accepted the stronger-reprojection prior (18 controls, curvature 5e-9, reprojection 8) and requested continuation on 2026-10-28. [Exact current decision](owner_prior_acceptance_c6a_v1.json). Fresh mechanical inputs and static appearance are being prepared in `accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2`; older products remain historical. Trained appearance acceptance and physical fitting remain separate. - - -### Current stronger-reprojection products - -[Static appearance and rotation](accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/APPEARANCE_REVIEW_c6a_v1.md) · [Mechanical geometry and controllers](accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/supervision/review_c6a_v1/MECHANICAL_REVIEW.md). Earlier sections retain their historical decisions; the current status is at the top of this card. - - -### New stronger-reprojection appearance accepted - -The owner accepted the [reviewed appearance](accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/APPEARANCE_REVIEW_c6a_v1.md). The exact acceptance and final PLY identity are retained in [the current record](owner_appearance_acceptance_c6a_v1.json). diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/mask_review_selection.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/mask_review_selection.json deleted file mode 100644 index b466b9974bd0721bac443473ce440695254e98dc..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/mask_review_selection.json +++ /dev/null @@ -1,1327 +0,0 @@ -{ - "purpose": "Review-only exact own-camera selection from original validated masks; no window rebinding or signoff", - "owner_window_decision": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_window_decision.json", - "previous_packet": { - "session_id": "session_20260921_233045_819927", - "object": "bike chain", - "motion": "right-handed grasp lifting completely off table, tilt hand and object allowing collapsing of chain, then put down", - "proposed_anchor_frames": "222-558", - "T": "337", - "per_camera_counts": "337/337/338/338", - "rectangular": "false", - "participating_hands": "hand_A", - "alternatives": "", - "masks": "not yet proposed", - "case_dir": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558", - "status": "window proposed; pending owner review", - "source_proposal": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_proposal_c1/proposal.json", - "current_proposal": { - "start_anchor_frame": 222, - "end_anchor_frame_inclusive": 558, - "start_ns": 1790047878247763130, - "end_ns": 1790047889520871268, - "rationale": "Start: in 17736741 the fingertips reach the bottom strand at ~220 and are wrapped around it by 222-224 (start_17736741_stride1_212-236.jpg); 222 used. End: after put-down the hand holds the chain end on the table, static, through 558; the hand starts moving away at 559 and has left by ~562, with the formerly covered chain end shifting at 561-563 (end_12540311_stride1_540-570.jpg)." - }, - "amendment": null, - "owner_accepted": false, - "products": [ - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311/inspection/frames.npz", - "serials": [ - "12540311" - ], - "T": 337, - "use": "proposal only; own camera column only; C1a required" - }, - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12933256", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12933256/inspection/frames.npz", - "serials": [ - "12933256" - ], - "T": 337, - "use": "proposal only; own camera column only; C1a required" - }, - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741/inspection/frames.npz", - "serials": [ - "17736741" - ], - "T": 338, - "use": "proposal only; own camera column only; C1a required" - }, - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/23007103", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/23007103/inspection/frames.npz", - "serials": [ - "23007103" - ], - "T": 338, - "use": "proposal only; own camera column only; C1a required" - 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{ - "file": "masks/12540311/hand_B/run0001_t0000-0337.npz", - "sha256": "fc9e14fb0ce8892a1ac2a6f8c97e0f229b2d28c67e32d9da69369d87c19a6d9e" - } - ], - "prompts": [ - { - "file": "annotations/prompts/12540311/hand_B/t0000_v01.json", - "sha256": "3faef81c1db71c34e0517de8022ca21d899bd24870212fcb6a6e27273bc5b94e" - } - ] - } - ], - "covered_frames": 291, - "visible_frames": 0 - } - ], - "reviewed_by": "owner", - "decision": "accept", - "date": "2026-10-28T16:30:44Z", - "labelling_as_accepted": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. 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All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though.", - "review_material": [ - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/12933256/inspection/frames.npz b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/12933256/inspection/frames.npz deleted file mode 100644 index a75574c50fe5dc1a1920e029ef53331ee02dcd55..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/12933256/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:36405ab650383c45f7df5902b7953a8c89a942de763eae418ea5a03cb616d58b -size 75216 diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/12933256/review_signoff.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/12933256/review_signoff.json deleted file mode 100644 index 6b0218e09abc86a76bde8950e243bbcd4071ab11..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/12933256/review_signoff.json +++ /dev/null @@ -1,2752 +0,0 @@ -{ - 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{ - "file": "masks/12933256/hand_B/run0001_t0000-0337.npz", - "sha256": "d231d9ad5bc06adc2c6dbb372bae26c2cb34e767e9c617e100c30995e1e2a235" - } - ], - "prompts": [ - { - "file": "annotations/prompts/12933256/hand_B/t0000_v01.json", - "sha256": "3d3999da95c90fef666c64173fc74a01b4899cff11d0ad2d7a5c09a0788d9aed" - } - ] - } - ], - "covered_frames": 291, - "visible_frames": 0 - } - ], - "reviewed_by": "owner", - "decision": "accept", - "date": "2026-10-28T16:30:47Z", - "labelling_as_accepted": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though.", - "review_material": [ - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/12933256/review_signoff_occluder.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/12933256/review_signoff_occluder.json deleted file mode 100644 index 07f9bdbf2f4d44abc33ec81cdaabd14384aa8958..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/12933256/review_signoff_occluder.json +++ /dev/null @@ -1,942 +0,0 @@ -{ - 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All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though.", - "review_material": [ - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/17736741/inspection/frames.npz b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/17736741/inspection/frames.npz deleted file mode 100644 index bc6db7145b1f59e56d3123c8ad7d52684cf8c7de..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/17736741/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:14284c40988f146f90de8c5072f83def164a23fb899ede9010cb4c9dac487b0d -size 75428 diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/17736741/review_signoff.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/17736741/review_signoff.json deleted file mode 100644 index 19eba22259902b33934a0ebcbcda7def0a3eb074..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/native_inputs/cameras/17736741/review_signoff.json +++ /dev/null @@ -1,2761 +0,0 @@ -{ - 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All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. 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"frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/17736741/inspection/frames.npz", - "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/17736741" - }, - { - "view_index": 3, - "serial": "23007103", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/23007103/inspection/frames.npz", - "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/23007103" - } - ] -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_appearance_acceptance_c6a_v1.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_appearance_acceptance_c6a_v1.json deleted file mode 100644 index 8247aac70620f317f989fcccf39f8ee9ad1d2be0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_appearance_acceptance_c6a_v1.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "requested_utc": "2026-10-28T23:42:05.228197+00:00", - "appearance_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/appearance_train_v1", - "final_ply": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/appearance_train_v1/model/point_cloud/iteration_10000/point_cloud.ply", - "final_ply_sha256": "aa99b23deb8f48ab3cba70f4d02b0a756228cf839ff0b2e08aeff5ce18bb263e", - "prior_manifest_sha256": "96479e31f203201051f6b1ef0361c143645714cda68cb4c958d9089b428a6d4a", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/APPEARANCE_REVIEW_c6a_v1.md", - "reference_opacity_filter": "strict opacity >0.1", - "owner_decision": "accepted", - "physical_fitting": "not authorized by this request", - "candidate": "stronger_reprojection", - "owner_text": "I approve of all chain priors/appearances", - "recorded_utc": "2026-10-29T14:05:19.233841+00:00", - "scope": "Accept this exact reviewed static appearance from the stronger-reprojection prior with its disclosed limitations. No physical fitting is authorized.", - "approval_source": "direct user message in this conversation" -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_chain_fit_settings_20261028.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_chain_fit_settings_20261028.json deleted file mode 100644 index 35165d2f34529db4b12288350c15a847edf73809..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_chain_fit_settings_20261028.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "owner_text": "Use 18 controls and curvature 5e-9", - "question_item_id": "[\"request_user_input_async\",\"call_a0e9fa3be9d24527b644d22e28b0859a\",0]", - "recorded_utc": "2026-10-28T22:03:09.899460+00:00", - "control_count": 18, - "lambda_curvature_cost": 5e-09, - "settings_source": "233248 variant B", - "scope": "Prepare a separate233045 prior using18controls and curvature5e-9; preserve baseline and all other scientific settings. This is not prior acceptance.", - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_inspect.log b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_inspect.log deleted file mode 100644 index 5a654a871638eaa8cb4af8482c870439caaab5df..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_inspect.log +++ /dev/null @@ -1 +0,0 @@ -Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/per_camera_inputs.json and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/inspection.json diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_inspect_argv.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_inspect_argv.json deleted file mode 100644 index a384aaf40eb0f8a3472c82c6661d3ebe98525f50..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_inspect_argv.json +++ /dev/null @@ -1,12 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "scripts/phystwin_real_rgbd.py", - "inspect", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927", - "--window", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/phystwin_window.yaml", - "--per-camera", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs" -] diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_mask_acceptance_c6a_selected_20261028.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_mask_acceptance_c6a_selected_20261028.json deleted file mode 100644 index 588e7b710ae6f46ec2168cd294bac586467359a3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_mask_acceptance_c6a_selected_20261028.json +++ /dev/null @@ -1,15 +0,0 @@ -{ - "owner_text": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though.", - "recorded_utc": "2026-10-28T16:08:00.248304+00:00", - "accepted_window_anchor_inclusive": [ - 256, - 546 - ], - "participating_hands": [ - "hand_A" - ], - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/C6A_REVIEW.md", - "review_media": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/review_tiled_c6a_20261028/media_index.json", - "selection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/mask_review_selection.json", - "scope": "Accept the reviewed object, hand_A, hand_B and whole-person occluder masks in all four cameras on the owner-selected window for reference input preparation. Prior, appearance and push fixed-attachment decisions remain separate." -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_acceptance_c6a_v1.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_acceptance_c6a_v1.json deleted file mode 100644 index 731bf8704684b37f83a8f04b1e99207d129a0767..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_acceptance_c6a_v1.json +++ /dev/null @@ -1,23 +0,0 @@ -{ - "owner_text": "the stronger reprojection priors look good, please proceed with those.", - "recorded_utc": "2026-10-28T23:14:46.631676+00:00", - "selected_candidate": "stronger_reprojection", - "sessions": [ - "233248", - "232950", - "233045", - "233144", - "233350" - ], - "control_count": 18, - "curvature_weight": 5e-09, - "reprojection_weight": 8.0, - "scope": "Accept these five reviewed priors and continue the existing mechanical-input and static-appearance preparation workflow. Trained appearance acceptance remains separate. No physical fitting.", - "disclosed_limitations": "Image/depth tradeoff, soft-length excess, nominal-table offsets, hidden geometry and existing later tracking/depth limitations remain recorded.", - "prior_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", - "prior_manifest_sha256": "96479e31f203201051f6b1ef0361c143645714cda68cb4c958d9089b428a6d4a", - "mesh_sha256": "5858ffbed51a1fd0bd1f5f63b70dd01731c7ce8daab670115cb6312d8ce06b31", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md", - "comparison_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/c6a_20261027/chain_weight_comparison_20261028/COMPARISON.md", - "supersedes": "Earlier chain revocation for this newly selected artifact only; historical decisions and outputs remain preserved." -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_review_request_c6a_v1.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_review_request_c6a_v1.json deleted file mode 100644 index bd8e7ccebe94eb556add84f0045e73dc4293c102..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_review_request_c6a_v1.json +++ /dev/null @@ -1,13 +0,0 @@ -{ - "requested_utc": "2026-10-28T22:00:29.052914+00:00", - "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1", - "manifest_sha256": "743ff46e0456d47d3df3689d33c0dc4952574b52308060dad9c367187eb0363d", - "mesh_sha256": "8c92b5241c7d95cf0f26723e9c308b275823086ee81e2a9bf92236f2c4ab429f", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_review_v1/PRIOR_REVIEW_c6a_v1.md", - "requested_scope": [ - "mechanical input preparation", - "reference static appearance training" - ], - "owner_decision": "pending", - "physical_fitting": "not authorized by this request" -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_review_request_m18_c6a_v1.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_review_request_m18_c6a_v1.json deleted file mode 100644 index c26d8e404f99dc2efcd2991e000ec70391184463..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_review_request_m18_c6a_v1.json +++ /dev/null @@ -1,14 +0,0 @@ -{ - "requested_utc": "2026-10-28T22:21:09.364729+00:00", - "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "manifest_sha256": "5c3f560eea985f9d376beed25f62328301e6e0206822ef4600447365e66556fa", - "mesh_sha256": "bc674f33899a26c8c73819745e35f58700a5c890aa6cae21adb3808b0e8b3485", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md", - "requested_scope": [ - "mechanical input preparation", - "reference static appearance training" - ], - "owner_decision": "pending", - "physical_fitting": "not authorized by this request", - "variant": "18controls/curvature5e-9" -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_revocation_20261028.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_revocation_20261028.json deleted file mode 100644 index f43154b70bc15134320c8f13348c79790bbc51c3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_prior_revocation_20261028.json +++ /dev/null @@ -1,18 +0,0 @@ -{ - "owner_text": "Ok I accepted all the chain priors, but I actually want to revert those prior acceptances. The priors are better than before now that we lowered the curvature cost and added more control points. though there are still small sharp kinks/curves that aren't perfectly being captured and I wonder if lowering the curvature penalty even further might help for all the chain spline fitting cases. And/or perhaps increase the mask reprojection cost", - "question_item_id": "[\"request_user_input_async\",\"call_db88702732ab4c17ba332e50ccad44b9\",0]", - "common_settings_owner_text": "refer to my answer for the other chain prior spline fit. I want the same settings to be used across all bike chain sessions", - "common_settings_question_item_id": "[\"request_user_input_async\",\"call_db88702732ab4c17ba332e50ccad44b9\",1]", - "recorded_utc": "2026-10-28T22:27:21.459869+00:00", - "scope": "Revoke all current bike-chain prior acceptances and hold dependent preparation. Preserve all saved science and historical decisions. Investigate a shared fitting recipe with lower curvature penalty and/or higher mask reprojection weight; exact next settings are unresolved.", - "sessions": [ - "233248", - "232950", - "233045", - "233144", - "233350" - ], - "new_refits_authorized": false, - "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", - "previous_acceptance_record_present": false -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_window.log b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_window.log deleted file mode 100644 index b9417f5c5fdb2b352841eaea242f82696463b0c3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_window.log +++ /dev/null @@ -1 +0,0 @@ -Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/phystwin_window.yaml diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_window_argv.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_window_argv.json deleted file mode 100644 index c1d72fc238e786627f94086dd6c76dd4967f75db..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_window_argv.json +++ /dev/null @@ -1,22 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "scripts/phystwin_annotate_converted_session_window.py", - "--session-path", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927", - "--anchor-serial", - "12540311", - "--start-timestamp-ns", - "1790047879385946319", - "--end-timestamp-ns", - "1790047889122513771", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "bike chain", - "--controller-description", - "hand_A = person's right hand (bracelet); hand_B = person's left hand. Participating: hand_A", - "--notes", - "Owner selected anchor12540311 converted frames 256-546 inclusive on 2026-10-28. Masks remain unapproved.", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_window_decision.json b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_window_decision.json deleted file mode 100644 index 2281234ae228922ab59beeeba634f0ea5a28bfe2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/owner_window_decision.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "owner_text": "I've now inspected the best windows for the remaining sessions, but haven't yet fully inspected all the masks. please use these windows: 225524: 471-708, 225744: 335-775, 230338: 305-744, 230446: 282-676, 230550: 293-547, 230830: 349-805, 230937: 362-817, 231046: 364-711, 232051: 260-385, 232242: 307-584, 232344: 308-680, 232447: 336-500, 232616: 311-690, 232717: 340-691, 232822: 331-765, 232950: 220-428, 233045: 256-546, 233144: 268-673, 233350: 359-730", - "anchor_serial": "12540311", - "anchor_converted_frames_inclusive": [ - 256, - 546 - ], - "mask_acceptance": "pending", - "previous_case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558" -} diff --git a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/phystwin_window.yaml b/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/phystwin_window.yaml deleted file mode 100644 index 04093c4e08c94ec0b9f703a5572e112be45a0024..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/annotations/windows/window_anchor0256-0546/native/phystwin_window.yaml +++ /dev/null @@ -1,81 +0,0 @@ -schema_version: 1 -kind: phystwin_interaction_window -session: - path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927 - session_id: session_20260921_233045_819927 -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_233045_819927 - --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: 33425918 - fps_estimate: 29.916905 -manual_annotation: - start_global_timestamp_ns: 1790047879385946319 - end_global_timestamp_ns: 1790047889122513771 - 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 = person''s - left hand. Participating: hand_A' - annotator_notes: Owner selected anchor12540311 converted frames 256-546 inclusive - on 2026-10-28. Masks remain unapproved. -resolved_window: - start_sync_index: 255 - end_sync_index_exclusive: 546 - start_anchor_timestamp_ns: 1790047879385946319 - end_anchor_timestamp_ns: 1790047889122513771 - frame_count: 291 - duration_s: 9.736567 -per_camera_resolution: - '12540311': - start_source_frame_index: 256 - end_source_frame_index_exclusive: 547 - start_source_timestamp_ns: 1790047879385946319 - end_source_timestamp_ns: 1790047889122513771 - start_delta_ns: 0 - end_delta_ns: 0 - '12933256': - start_source_frame_index: 255 - end_source_frame_index_exclusive: 546 - start_source_timestamp_ns: 1790047879386015959 - end_source_timestamp_ns: 1790047889121617886 - start_delta_ns: 69640 - end_delta_ns: -895885 - '17736741': - start_source_frame_index: 256 - end_source_frame_index_exclusive: 548 - start_source_timestamp_ns: 1790047879381342359 - end_source_timestamp_ns: 1790047889121700171 - start_delta_ns: -4603960 - end_delta_ns: -813600 - '23007103': - start_source_frame_index: 255 - end_source_frame_index_exclusive: 548 - start_source_timestamp_ns: 1790047879375651226 - end_source_timestamp_ns: 1790047889139083835 - start_delta_ns: -10295093 - end_delta_ns: 16570064 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 16570064 - warnings: [] -created_by: manual -created_at: '2026-10-28T14:39:58+00:00' -updated_at: '2026-10-28T14:39:58+00:00' - diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/colors/color_summary.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/colors/color_summary.json deleted file mode 100644 index 0c26001cf2f36935935721bf8900930f4eff054f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/colors/color_summary.json +++ /dev/null @@ -1,49 +0,0 @@ -{ - "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views", - "two_sided": false, - "depth_tolerance_m": 0.025, - "first_hit_tolerance_m": 0.0002, - "per_view": [ - { - "view": 0, - "serial": "12540311", - "observed_vertices": 656, - "projected_inside": 1728, - "first_hit": 913 - }, - { - "view": 1, - "serial": "12933256", - "observed_vertices": 719, - "projected_inside": 1728, - "first_hit": 904 - }, - { - "view": 2, - "serial": "17736741", - "observed_vertices": 720, - "projected_inside": 1728, - "first_hit": 927 - }, - { - "view": 3, - "serial": "23007103", - "observed_vertices": 754, - "projected_inside": 1728, - "first_hit": 906 - } - ], - "observed_vertices": 1213, - "filled_vertices": 515, - "fill_color_rgb": [ - 0.20392156862745098, - 0.1680215214212295, - 0.15619022855796752 - ], - "glb_roundtrip": { - "float32_positions_exact": true, - "vertex_colors_exact": true, - "uv_count": 0, - "vertex_reordered_on_open3d_load": true - } -} \ No newline at end of file diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/colors/vertex_colors.npz b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/colors/vertex_colors.npz deleted file mode 100644 index 802f641028fd6bc58a546be2a7bc4fb863799bf1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/colors/vertex_colors.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c5c7d8fa75ed39945b445f05e1924a9a535022fef06b70687b50bae2a310f88f -size 56328 diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors.log deleted file mode 100644 index 477918a6e79b3b4f75bf54105a016f8b75bba523..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors.log +++ /dev/null @@ -1 +0,0 @@ -colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/colors.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_argv.json deleted file mode 100644 index ae467fd40d42b7ed56c8571839b7f0b9e858d5c7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_argv.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "colors", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:48:44.233093+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_result.json deleted file mode 100644 index e8436377a603481bdce0f09628ab8a0c99047f54..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 2.582289486002992, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit.log deleted file mode 100644 index 85f4f108967c689136363d297f253724c75db2ce..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit.log +++ /dev/null @@ -1,43 +0,0 @@ -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -fit: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/fit.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_argv.json deleted file mode 100644 index 9ea20b156818b891592b7b0f08ac7e1316250994..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_argv.json +++ /dev/null @@ -1,24 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "fit", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2", - "--outlier-filter", - "statistical:20:2.0", - "--max-rounds", - "400", - "--reprojection-weight", - "4.0", - "--baseline-run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "--chain-curvature-weight", - "5e-10", - "--chain-control-count", - "18" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:48:16.669784+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_result.json deleted file mode 100644 index 74aae85fdc355920241924eea7404235be8fd375..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 22.578409671987174, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid.log deleted file mode 100644 index c8d5621fd540e8c8d70edf17b2150a2e3b0984f5..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid.log +++ /dev/null @@ -1 +0,0 @@ -hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/hybrid.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_argv.json deleted file mode 100644 index 7477dac7aefb7267f803545cc4a774f055413acc..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_argv.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "hybrid", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:48:46.815641+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_result.json deleted file mode 100644 index 916f42f4adeac68d8804abcc692c69fbc030a6fc..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 2.2552970179967815, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest.log deleted file mode 100644 index 36fc2c187294e2f6d82b76f6056655e2f7a5c863..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest.log +++ /dev/null @@ -1 +0,0 @@ -/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/manifest.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_argv.json deleted file mode 100644 index 4556e0cdc29d854dc129ec65ab53ba2e618b78f4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_argv.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "manifest", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:49:01.518602+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_result.json deleted file mode 100644 index 05f49ac6d50dddc7255efbe4f8fbb82bfc078405..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 1.3336657179897884, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review.log deleted file mode 100644 index 4b5d0b0d4b50fa27fe3da653281dfee124904c96..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review.log +++ /dev/null @@ -1 +0,0 @@ -review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/review.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_argv.json deleted file mode 100644 index 960f885e8d829e1e8f56f8dc3171f99096672459..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_argv.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "review", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:48:49.071152+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_result.json deleted file mode 100644 index f31a342868b5dd50850fd9b5ae7430b23d541b44..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 12.44718686399574, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube.log deleted file mode 100644 index 8535a652a403fce917e02e157738af6ba662f42d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube.log +++ /dev/null @@ -1 +0,0 @@ -tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/tube.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_argv.json deleted file mode 100644 index 8279e2ab5f02e6ceab15a46e12236b29ac0ace79..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_argv.json +++ /dev/null @@ -1,12 +0,0 @@ -{ - "argv": [ - 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a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 4.984429086005548, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/full_prior_complete.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/full_prior_complete.json deleted file mode 100644 index 54f9832e66d980bb7508cdab0b336009482bb25a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-lower-curvature-v2/native/full_prior_complete.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "case_id": "233045", - "candidate": "lower_curvature", - "run": 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a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_argv.json deleted file mode 100644 index 04baa502a1e968967a7232a9ca01f8424cbf0f8f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_argv.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "colors", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - ], - "started_utc": "2026-10-28T22:10:27.214011+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_result.json deleted file mode 100644 index 3799f9b613e2fa562bb571ee7d0543920dd198ef..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 9.80495451799652 -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit.log deleted file mode 100644 index 61db133e9f0ee71649b2b605c36ea68e681721a7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit.log +++ /dev/null @@ -1,43 +0,0 @@ -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -compiling! -fit: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/fit.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_argv.json deleted file mode 100644 index 0c0c1f816765070897856cee09939fd625427f9f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_argv.json +++ /dev/null @@ -1,23 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "fit", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "--outlier-filter", - "statistical:20:2.0", - "--max-rounds", - "400", - "--reprojection-weight", - "4", - "--baseline-run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1", - "--chain-curvature-weight", - "5e-9", - "--chain-control-count", - "18" - ], - "started_utc": "2026-10-28T22:03:10.077563+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_result.json deleted file mode 100644 index 3515b4672d420d78fb9a79abde6ef099be962c72..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 312.6585516320047 -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid.log deleted file mode 100644 index a23b162cf49077121acd7f141b504c6e74bb86de..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid.log +++ /dev/null @@ -1 +0,0 @@ -hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/hybrid.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_argv.json deleted file mode 100644 index a9f0d0f09761268418e77f54a1ab251476a3d2a4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_argv.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "hybrid", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - ], - "started_utc": "2026-10-28T22:10:37.019150+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_result.json deleted file mode 100644 index f78cb017b345ee905ed088f26014f877f21dca9e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 32.505380379006965 -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest.log deleted file mode 100644 index 5dcbd2104d3f8b4b5dbd6b48d927e6ab2d5827ad..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest.log +++ /dev/null @@ -1 +0,0 @@ -/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/manifest.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_argv.json deleted file mode 100644 index 9f397a88191534833fcd63345ee21714e1bbfa95..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_argv.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "manifest", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - ], - "started_utc": "2026-10-28T22:11:27.350569+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_result.json deleted file mode 100644 index a501688259886f444f080a20895e2a83ed11dda4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 13.853932117010118 -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review.log deleted file mode 100644 index 3e8e949a892c5352d1347a83369c09a7dc45bf10..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review.log +++ /dev/null @@ -1 +0,0 @@ -review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/review.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_argv.json deleted file mode 100644 index 1150ae759f64fa7bf5872b857fd1ca81df9555f4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_argv.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "review", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - ], - "started_utc": "2026-10-28T22:11:09.524759+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_result.json deleted file mode 100644 index f21efcfaf9341b3ff0c95e03dab3e3e80a7becc4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 17.825640156006557 -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube.log deleted file mode 100644 index 18a35812176c96d267fc884c3708f55e2b630e87..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube.log +++ /dev/null @@ -1 +0,0 @@ -tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/tube.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_argv.json deleted file mode 100644 index 11102466a122063f3ddf0857d763c13217aa03fd..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_argv.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "argv": [ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", - "-B", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", - "tube", - "--run", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - ], - "started_utc": "2026-10-28T22:08:22.736874+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_result.json deleted file mode 100644 index a1f60a451a9463c5e0f55e7722a90351be095d71..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 124.47691196101368 -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd deleted file mode 100644 index deb760ed865320ef291c32d0ee70c19618061f7d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0f909388144796bfd2b3b0b94ba69fca7dd8c3bbb924f0395c669b057474819e -size 26134260 diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/reused_inputs.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/reused_inputs.json deleted file mode 100644 index 6acd08d62d7079e298a728af6f68b65619338c89..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/reused_inputs.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "source_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1", - "files": [ - "inputs/reference_views.json", - "inputs/observed_cloud.npz", - "inputs/depth_offset_diagnostic.json", - "gaussian_data/session_20260921_233045_819927/mask_0.png", - "gaussian_data/session_20260921_233045_819927/mask_human_3.png", - "gaussian_data/session_20260921_233045_819927/mask_human_1.png", - "gaussian_data/session_20260921_233045_819927/0.png", - "gaussian_data/session_20260921_233045_819927/mask_3.png", - "gaussian_data/session_20260921_233045_819927/camera_meta.pkl", - "gaussian_data/session_20260921_233045_819927/2.png", - "gaussian_data/session_20260921_233045_819927/2_depth.npy", - "gaussian_data/session_20260921_233045_819927/mask_2.png", - "gaussian_data/session_20260921_233045_819927/0_depth.npy", - "gaussian_data/session_20260921_233045_819927/mask_human_0.png", - "gaussian_data/session_20260921_233045_819927/3_depth.npy", - "gaussian_data/session_20260921_233045_819927/interp_poses.pkl", - "gaussian_data/session_20260921_233045_819927/observation.ply", - "gaussian_data/session_20260921_233045_819927/1_depth.npy", - "gaussian_data/session_20260921_233045_819927/mask_1.png", - "gaussian_data/session_20260921_233045_819927/1.png", - "gaussian_data/session_20260921_233045_819927/mask_human_2.png", - "gaussian_data/session_20260921_233045_819927/3.png", - "spline/filter.json", - "spline/filter_removed.npz", - "spline/filtered_cloud.npz", - "steps/inputs.json", - "steps/diagnose-depth.json" - ], - "requested_fit": { - "owner_text": "Use 18 controls and curvature 5e-9", - "question_item_id": "[\"request_user_input_async\",\"call_a0e9fa3be9d24527b644d22e28b0859a\",0]", - "recorded_utc": "2026-10-28T22:03:09.899460+00:00", - "control_count": 18, - "lambda_curvature_cost": 5e-09, - "settings_source": "233248 variant B", - "scope": "Prepare a separate233045 prior using18controls and curvature5e-9; preserve baseline and all other scientific settings. This is not prior acceptance.", - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - }, - "action": "Exact copies of27 true observation/filter/step inputs; derived shape_prior.glb is generated by the new colors stage." -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.png b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.png deleted file mode 100644 index 92f104830f4f97b9f9c4e591b7bd5c7cc1693e08..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ec1f647a623ca5c677b6c66afded00056587fd9865042be4b4cfa1a60b9d717c -size 393 diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.txt b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.txt deleted file mode 100644 index d49e09ac21799736be317f613ae0cc6dde0fbd7a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/fill_swatch.txt +++ /dev/null @@ -1,2 +0,0 @@ -Per-channel median of 1201 observed vertex colours (RGB/255): [0.2063746900559351, 0.1692619234299968, 0.15709957824017537] -Filled 527 vertices. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_0_visibility.png b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_0_visibility.png deleted file mode 100644 index f6da9281e6ae897309447cbf0605bc82d56daee0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_0_visibility.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:36a399e1e586b60dd8612ac9d87c33c2b0f3dd9c5cc937a2ef6605863a3d2d39 -size 139198 diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_1_visibility.png b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_1_visibility.png deleted file mode 100644 index a51fd8e7d4914be41ea10d418ac03bd15bcd9230..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_1_visibility.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2b93dad13321befd976e8aed06d8d0216813b76ace6a4db1a97efc9e68191128 -size 143342 diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_2_visibility.png b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_2_visibility.png deleted file mode 100644 index 345d13ea9127f6f73f832679bd229df375278a1c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-m18-lowcurvature-v1/native/review/colors/view_2_visibility.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7eb2bd5e31baadbae9654af7e81b6c8e12e00a2be46aabfc8a4cd6bff40e68b2 -size 143954