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343.3939792519959 +} diff --git a/sessions/session_20260921_232616_062985/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_232616_062985/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..65be82db22903b1a9169aaa172f36b3d39ddefb0 --- /dev/null +++ b/sessions/session_20260921_232616_062985/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md @@ -0,0 +1,65 @@ +# session_20260921_232616_062985 — prior approval pending + +Saved C2 **grey_timing_belt** prior evidence (width 25.00 mm, zero-thickness surface). Agent visual review is complete; owner prior approval remains pending. This packet reports saved values and existing media with the agent 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 / 311 / 312 | [centerline](<../prior_timing_v1/review/spline/centerline_0_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_0_12540311.png>) | +| 12933256 | 0 / 311 / 312 | [centerline](<../prior_timing_v1/review/spline/centerline_1_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_1_12933256.png>) | +| 17736741 | 0 / 312 / 313 | [centerline](<../prior_timing_v1/review/spline/centerline_2_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_2_17736741.png>) | +| 23007103 | 0 / 311 / 312 | [centerline](<../prior_timing_v1/review/spline/centerline_3_with_masks.png>) · [ribbon](<../prior_timing_v1/review/ribbon/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_timing_v1/review/ribbon/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_timing_v1/review/inputs/view_3_23007103.png>) | + +[Full rotation video](<../prior_timing_v1/review/ribbon/orbit.mp4>) · [Geometry and depth cloud](<../prior_timing_v1/review/ribbon/ribbon_scale_views.png>) · [Residual histograms](<../prior_timing_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_timing_v1/review/inputs/depth_offset.png>) + +Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **665.945 mm**, maximum curvature **12.621/m**, final gradient norm **3.33119e-07**. Soft length bounds are 664.000–666.000 mm; distance outside those bounds is 0.000 mm. + +The timing prior has a separate stage 2 with the centerline frozen: **8 twist iterations**, saved success `True`, stop `CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH`. [Twist and width directions](<../prior_timing_v1/review/ribbon/twist_and_width_direction.png>). + +Saved geometry checks report `passed=True`: **450 mesh vertices / 720 triangles**, 1 component(s), `watertight=False`, `self_intersecting=False`. [Full geometry checks](<../prior_timing_v1/ribbon/ribbon_checks.json>). + +The following 3D residuals are lifted-depth point distances to the **ribbon surface**, not measured reconstruction errors. The fraction of visible projected ribbon surface samples inside the mask is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. + +| Camera | Median / p90 3D residual (mm) | Visible ribbon surface inside mask | Native depth and visibility evidence | +|---|---|---|---| +| 12540311 | 3.454 / 7.821 | 92.10% | [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 | 1.763 / 5.025 | 88.63% | [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 | 2.367 / 7.195 | 92.39% | [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 | 5.851 / 8.169 | 97.14% | [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 **35745 of 36934** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. + +Appearance initialization contains **35745 observed + 21600 mesh-derived = 57345 seeds**. Vertex colors are observed for 410 mesh vertices and median-filled for 40. 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_timing_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_timing_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_timing_v1/manifest.json>) · [Fit settings and metrics](<../prior_timing_v1/steps/fit.json>) · [Reference observations](<../prior_timing_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) + +The agent inspected the 22 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 prior, with retained table-registration, hidden-grasp and later-sequence measurement limitations.** No blocking defect was found in the initial ribbon representation. This conclusion does not establish suitability for physical fitting. + +Goal: inspect the saved initial prior. Done when: all 22 panels, nine orbit samples and numerical evidence are checked and findings saved. Non-goals: refitting, changing observations or science, training appearance, running dynamics or granting approval. + +The four initial input panels show the intended grey ribbon and both hand groups. Centerline and ribbon overlays follow the broad visible loop. Small edge mismatches remain, especially in 12540311 and 17736741. Camera 12933256 has substantial forearm/sleeve occlusion; hidden arcs are prior completion. Red overlays drawn across hands are a visualization convention, not evidence of physical penetration. The owner-accepted later 17736741 bracelet-mask flicker remains unchanged. + +All **22 actual panels** were inspected: four RGB/mask inputs, four masked centerline overlays, eight masked/unmasked ribbon silhouettes, geometry/depth cloud, twist/width directions, depth-offset diagnostic, residual histograms, colors/fill and hybrid seeds. The orbit was inspected individually at frames **0, 4, 8, 13, 17, 21, 26, 30 and 35** of 36 frames at 12 fps. This is sampled inspection, not continuous playback. The sampled vertex plots show one upright loop with smooth width changes and no gross fold, twist flip, collapse or detached component. + +Saved geometry tests report **one component, zero degenerate triangles, no self-intersection and two 90-edge open width boundaries**. The **450 vertices / 720 triangles** describe a **25 mm zero-thickness surface**, not a solid. Stage 1 stopped after one round on its gradient criterion. Stage 2 succeeded in eight iterations with no knot at its bound. The final length is **665.945 mm**, inside the soft 664–666 mm interval; maximum curvature is **12.621/m**, under a soft curvature penalty rather than a hard 10/m bound. The centerline position controls are exactly unchanged in stage 2, and final raw twist matches its last saved trajectory entry. The stage-2 objective decreased **2.178% relative to its own start**; stage-1 and stage-2 total losses use different mask terms and must not be compared as the same objective. + +All **35,745 saved surface residuals** and numerical geometry arrays are finite. Recomputed per-view residual counts, medians and p90 values match the saved metrics. **The inherited histogram label says “centerline residual”; these timing-ribbon values are point-to-ribbon-surface distances.** The original media were preserved. The color panel identifies **410 observed and 40 median-filled vertices**; hybrid initialization contains **35,745 observed + 21,600 mesh-derived = 57,345 seeds**. These counts are not mechanical particles or trained appearance quality. + +**The mesh extends below nominal table z=0:** its z range is **−6.758 to 24.289 mm**. Belt-minus-local-table depth medians are **13.718 / 10.050 / 5.082 / 13.910 mm**, in camera order 12540311 / 12933256 / 17736741 / 23007103. The prior is not table-constrained, and the scale/hybrid panels retain a broad depth band and local protruding observations. No height correction, depth offset or snapping was applied. The visible projected ribbon-surface coverage values above are separate diagnostics, not silhouette IoU or ground-truth reconstruction accuracy. + +**The later detached bands remain unresolved.** The [saved reference review](<../review_v1/REVIEW.md>) reports camera **23007103** at derived sample **176** with **71/228 visible representatives** farther than 40 mm from the nearest other-view visible point, maximum **366.285 mm** (object 1000, candidate 2584, query 1210). At sample **303**, it reports **65/313**, maximum **319.134 mm** (object 1013, candidate 2648, query 1509). Both worst points retain positional visibility and incoming/outgoing motion-valid flags. These are cross-view disagreement diagnostics, not ground-truth errors or new admission thresholds. They concern later observations, while this prior uses the initial frame. This prior review neither removes nor repairs those data and does not approve a physical fit. + +All eight saved prior commands completed with return code zero at source commit `d1d2f1381470138dfbb3c58d448e53bfed1e0d7e`. The package preserves the case, frame mapping, source identity and saved colored-mesh identities. Only this new review packet and scratch were written; source code, measurements, scientific settings and approval records were unchanged. + +## Owner decision, 2026-10-28 + +The owner accepted this exact initial prior for surface-only mechanical preparation and reference static appearance. The limitations above remain retained. The agent review above predates this decision; trained appearance acceptance and physical fitting remain separate. diff --git a/sessions/session_20260921_232616_062985/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json b/sessions/session_20260921_232616_062985/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json new file mode 100644 index 0000000000000000000000000000000000000000..cbf568a89960b0b74bacf5662177e3e15e153fda --- /dev/null +++ b/sessions/session_20260921_232616_062985/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json @@ -0,0 +1,864 @@ +{ + "case": "session_20260921_232616_062985/window_anchor0311-0690", + "reviewed_at_utc": "2026-10-28T21:20:08.798398+00:00", + "review_kind": "bounded agent review of completed C2 initial 25 mm timing-ribbon prior", + "readiness": "ready_for_owner_initial_prior_review_with_recorded_later_measurement_and_table_registration_limitations", + "blocking_findings_for_initial_prior": [], + "physical_fit_ready": false, + "owner_prior_approval": "pending; this review grants no acceptance or downstream authorization", + "scope": { + "goal": "Review the saved initial grey ribbon under the existing approved two-stage recipe.", + "done_when": "The prior is packaged once, all 22 actual panels and nine selected orbit frames plus two-stage and mesh evidence are inspected, and case-specific findings are saved.", + "non_goals": [ + "No refit, source/science changes, measurement corrections or geometry snapping", + "No owner/global records or approval", + "No mechanical initialization, static appearance training or dynamic fit" + ], + "validation": "All eight command results are zero; saved residual statistics, frozen stage-2 centerline and final twist trajectory identity are checked. Actual visual coverage and limitations are enumerated below." + }, + "image_path_base": "../prior_timing_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", + "ribbon/silhouette_0_unmasked.png", + "ribbon/silhouette_1_unmasked.png", + "ribbon/silhouette_2_unmasked.png", + "ribbon/silhouette_3_unmasked.png", + "ribbon/silhouette_0_with_masks.png", + "ribbon/silhouette_1_with_masks.png", + "ribbon/silhouette_2_with_masks.png", + "ribbon/silhouette_3_with_masks.png", + "ribbon/ribbon_scale_views.png", + "ribbon/twist_and_width_direction.png", + "inputs/depth_offset.png", + "spline/residual_histograms.png", + "colors/visibility_and_fill.png", + "hybrid/combined.png" + ], + "inspected_videos": { + "../prior_timing_v1/review/ribbon/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 without alteration for individual visual inspection; no continuous-playback claim." + } + }, + "inspected_data": [ + "../prior_timing_v1/steps/fit.json", + "../prior_timing_v1/ribbon/ribbon_checks.json", + "../prior_timing_v1/spline/reprojection.json", + "../prior_timing_v1/inputs/depth_offset_diagnostic.json", + "../prior_timing_v1/spline/spline_stage1.json", + "../prior_timing_v1/spline/spline_fit.json", + "../prior_timing_v1/spline/residuals.npz", + "../prior_timing_v1/spline/rounds.jsonl", + "../prior_timing_v1/spline/twist_trajectory.jsonl", + "../prior_timing_v1/steps/colors.json", + "../prior_timing_v1/steps/hybrid.json", + "../review_v1/REVIEW.md", + "../review_v1/agent_findings.json", + "prior_metrics.json" + ], + "saved_metrics": { + "representation": { + "name": "grey_timing_belt", + "representation": "ribbon", + "fitter_source": "spline_estimation.timing_belt_fitting (scratch/test_timing_belt_perception.py)", + "dimension_source": "demonstrated 25 mm width; surface only, no interior (corpus Q1, 2026-10-25)", + "radius_m": null, + "ribbon_width_m": 0.025, + "step_t": 0.1, + "step_angle_deg": null, + "u_resolution": 5, + "overlap_rule": null, + "twist_penalty": { + "samples": 250, + "threshold_per_m": 10.0, + "huber_per_m": 30.0, + "cap_per_m": 80.0, + "weight": 5e-08 + } + }, + "stage1_rounds": 1, + "stage1_stop": "gradient_tolerance", + "stage1_final": { + "loss": 6.563871284015477e-05, + "components": { + "distance": 1.0285531971021555e-05, + "curvature": 1.8737923213052454e-08, + "arclength": 0.0, + "mask_reprojection_2d": 5.5334443459287286e-05 + }, + "grad_norm": 0.00026348180836066604, + "arclength_m": 0.6659454107284546, + "arclength_bound_active_within_1mm": true, + "max_curvature_per_m": 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mask term and twist penalty. Their total losses are different objectives. The reported final gradient norm is for twist optimization.", + "arclength_soft_bounds_m": [ + 0.6639999747276306, + 0.6660000085830688 + ], + "arclength_outside_soft_bounds_m": 0, + "geometry_checks": { + "representation": "zero-thickness intrinsic ribbon surface (open width edges)", + "euler_characteristic": 0, + "watertight": false, + "components": 1, + "winding_consistent": true, + "boundary_loop_edges": [ + 90, + 90 + ], + "degenerate_triangles": 0, + "open3d_reported_intersecting_pairs": 0, + "confirmed_intersecting_pairs": [], + "self_intersecting": false, + "maximum_width_error_m": 3.6781803575136607e-09, + "maximum_midline_error_m": 1.895104138657882e-09, + "maximum_tangent_width_dot": 6.111185951937492e-07, + "seam_surface_error_m": 0.0, + "minimum_nonadjacent_centerline_distance_m": 0.013768986059876661, + "theta_min_max_rad": [ + -0.1037391722202301, + 0.21400843560695648 + ], + "width_direction_abs_z_mean": 0.9950628059410134, + "triangle_area_m2": { + "min": 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"view_index": 3, + "selected_window_local_index": 0, + "converted_frame": 311, + "native_container_frame": 312, + "official_frame": 311, + "depth_frame": 311, + "capture_timestamp_ns": 1790047609711306836, + "device_timestamp_ns": 1790047609663417664, + "initial_grid_offset_ms": 8.593542, + "visible_surface_inside_mask_fraction": 0.9714471122647631 + } + ] + }, + "numerical_checks": { + "stage1_final_centerline_controls_equal": true, + "control_shape": [ + 9, + 4 + ], + "all_controls_finite": true, + "all_residuals_finite": true, + "surface_residual_count": 35745, + "saved_surface_residual_mean_m": 0.003908258246794821, + "per_view_recomputed": { + "0": { + "n": 8634, + "median_m": 0.0034543939400464296, + "p90_m": 0.00782075710594654 + }, + "1": { + "n": 7385, + "median_m": 0.0017634306568652391, + "p90_m": 0.005024923011660577 + }, + "2": { + "n": 9420, + "median_m": 0.0023667511995881796, + "p90_m": 0.007194674294441939 + }, + "3": { + "n": 10306, + "median_m": 0.005850781453773379, + "p90_m": 0.00816914439201355 + } + }, + "final_raw_theta_matches_last_trajectory": true, + "stage1_last_round_matches_record": true, + "stage2_same_objective_fraction_reduction": 0.021776446225793666, + "per_view_recomputed_matches_saved": true, + "geometry_array_shapes": { + "vertices": [ + 450, + 3 + ], + "faces": [ + 720, + 3 + ], + "centers": [ + 90, + 3 + ], + "normals": [ + 450, + 3 + ], + "representation": [], + "width_m": [], + "t": [ + 90 + ], + "u": [ + 5 + ], + "tangents": [ + 90, + 3 + ], + "width_dirs": [ + 90, + 3 + ], + "theta": [ + 90 + ] + }, + "geometry_numeric_fields": [ + "vertices", + "faces", + "centers", + "normals", + "width_m", + "t", + "u", + "tangents", + "width_dirs", + "theta" + ], + "geometry_numeric_arrays_all_finite": true + }, + "visual_findings": [ + "All four initial RGB/object/occluder panels show the intended grey timing ribbon with two hand groups. The accepted union includes the visible hand and forearm regions; camera 12933256 has substantial sleeve/forearm occlusion. The owner-accepted later bracelet-mask flicker is retained and was not changed.", + "The four centerlines and masked/unmasked ribbon overlays follow the broad visible loop. Small visible edge mismatches remain, especially along arcs in 12540311 and 17736741. Hidden grip and forearm-covered arcs are prior completion, not directly observed geometry.", + "The red silhouette is deliberately drawn across occluded image regions for review. Its overlap with a hand in the image does not by itself establish physical penetration; the accepted occlusion union is excluded from the mask term.", + "All nine sampled orbit frames show one upright loop, with smooth width-direction changes and no gross fold, twist flip, local collapse or disconnected component. These are plots of sampled ribbon vertices, not photorealistic renders or a continuous manual-playback claim.", + "The scale and hybrid panels show a broad, view-dependent depth band and small local protruding observations around the ribbon. The prior surface extends below nominal z=0. The twist panel stays close to vertical width direction, consistent with the saved bounded theta values.", + "The color panel distinguishes 410 observed-color vertices from 40 median-filled vertices. The hybrid population contains measured surface observations and ribbon-derived seeds. These are initialization populations, not trained appearance or mechanical particles." + ], + "limitations": [ + { + "kind": "later_sequence_measurement_defect", + "evidence": { + "176": { + "camera": "23007103", + "visible_representatives": 228, + "count_more_than_40mm_from_other_view": 71, + "nearest_other_view_mm_p50_p95_max": [ + 12.631898978004122, + 355.53470775508555, + 366.28479783205944 + ], + "worst_saved_point": { + "object_index": 1000, + "candidate_index": 2584, + "query_id": 1210, + "xyz_m": [ + 0.422328565396357, + 0.15450570814328396, + 0.0037028072895842665 + ], + "nearest_other_view_mm": 366.28479783205944, + "motion_in": true, + "motion_out": true + } + }, + "303": { + "camera": "23007103", + "visible_representatives": 313, + "count_more_than_40mm_from_other_view": 65, + "nearest_other_view_mm_p50_p95_max": [ + 10.785622611967224, + 292.1649690355955, + 319.13370730548684 + ], + "worst_saved_point": { + "object_index": 1013, + "candidate_index": 2648, + "query_id": 1509, + "xyz_m": [ + 0.3897691134734531, + 0.11349276289887764, + 0.025947032393342145 + ], + "nearest_other_view_mm": 319.13370730548684, + "motion_in": true, + "motion_out": true + } + } + }, + "meaning": "The saved reference review documents later detached bands in camera 23007103 at derived samples 176 and 303, including positional visibility and valid incoming/outgoing motion at the worst points. This initial prior review does not repair or validate those measurements. Nearest-other-view distances are disagreement diagnostics, not ground-truth errors or new admission thresholds." + }, + { + "kind": "table_registration", + "evidence": { + "surface_z_min_max_m": [ + -0.006758447270840406, + 0.024289464578032494 + ], + "belt_minus_local_table_m_by_serial": { + "12540311": 0.013718331900471559, + "12933256": 0.010049837184095023, + "17736741": 0.00508208912753122, + "23007103": 0.013910160416682416 + } + }, + "meaning": "The prior is not table-constrained. Registration/contact interpretation remains uncertain; no depth offset, snapping, height correction or replacement geometry was applied." + }, + { + "kind": "occlusion_and_metric_interpretation", + "evidence": { + "12540311": 0.9210182767624021, + "12933256": 0.8862793572311496, + "17736741": 0.9238733252131547, + "23007103": 0.9714471122647631 + }, + "meaning": "Coverage is the fraction of visible projected ribbon-surface samples inside the accepted mask, not silhouette IoU, a centerline statistic or ground-truth reconstruction accuracy. Hidden arcs remain prior completion." + }, + { + "kind": "inherited_plot_label", + "evidence": "../prior_timing_v1/review/spline/residual_histograms.png labels the horizontal axis centerline residual [mm].", + "meaning": "The actual saved residuals for this timing run are point-to-ribbon-SURFACE distances. This packet discloses the inherited label without changing source media." + }, + { + "kind": "surface_representation", + "evidence": "25 mm zero-thickness ribbon, 450 vertices / 720 triangles, one connected component and two open width boundaries.", + "meaning": "Open width edges are intentional. 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