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diff --git a/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/spline_fit.json b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/spline_fit.json
new file mode 100644
index 0000000000000000000000000000000000000000..da608289bc5b385a460bedd23d999819625ced47
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/spline_fit.json
@@ -0,0 +1,64 @@
+{
+  "version": 1,
+  "M": 9,
+  "basis_function": "JaxB3",
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+}
\ No newline at end of file
diff --git a/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/spline_init.json b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/spline_init.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d1f5cf754ad377310eab27ec2694624e95e0661
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/spline_init.json
@@ -0,0 +1,64 @@
+{
+  "version": 1,
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+  "basis_function": "JaxB3",
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+  "ribbon_width": 0.02500000037252903
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/spline_stage1.json b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/spline_stage1.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce5a2990327accf0b3a5dbbed84deefc26074eab
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/spline_stage1.json
@@ -0,0 +1,64 @@
+{
+  "version": 1,
+  "M": 9,
+  "basis_function": "JaxB3",
+  "closed": true,
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+}
\ No newline at end of file
diff --git a/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/twist_trajectory.jsonl b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/twist_trajectory.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5373ae0046efafecb9987c8a46a77d2d12b65c7
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/spline/twist_trajectory.jsonl
@@ -0,0 +1,9 @@
+{"iteration": 1, "loss": 1.0053038749902043e-05, "raw_theta": [0.03656109678771776, -0.02517019399015542, -0.04168645510253688, 0.037454604503984, -0.007809720527054953, -0.05897099155365342, -0.07700625461522265, -0.04104535188426906, 0.010234165340941502]}
+{"iteration": 2, "loss": 1.0029360055341385e-05, "raw_theta": [0.06220878973389232, -0.03428492796351731, -0.06424313974553393, 0.07348335062890844, 0.0016742763222852238, -0.06297850489763446, -0.06732032726790464, -0.03635665387295266, 0.018880843265305796]}
+{"iteration": 3, "loss": 1.0006045158661436e-05, "raw_theta": [0.10725116612834783, -0.04627021539622439, -0.11367380660377985, 0.16227173566987907, -0.003846573741681243, -0.07929555339604938, -0.03530830777899385, -0.03977485063858386, 0.002916313550420606]}
+{"iteration": 4, "loss": 1.0003327588492539e-05, "raw_theta": [0.1039064411381556, -0.02650539393114963, -0.1235057667836797, 0.18001294811078555, -0.021608800409088913, -0.0806649018075764, -0.028115743895486205, -0.040435094835794785, -0.0071474101888620925]}
+{"iteration": 5, "loss": 1.000220981950406e-05, "raw_theta": [0.09393543266409772, -0.020744104448044573, -0.1353282436562114, 0.1858649192601917, -0.026674662911787404, -0.07446858565420815, -0.029290012312861335, -0.04119090604688391, -0.008634866155813709]}
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+{"iteration": 7, "loss": 1.0000969268730842e-05, "raw_theta": [0.07332563655029284, 0.005513086071623223, -0.15517422357810592, 0.2090960400037173, -0.03963343652117854, -0.054943317640568375, -0.042877303595329805, -0.040121841229240104, 0.005669750153639953]}
+{"iteration": 8, "loss": 1.0000745533034205e-05, "raw_theta": [0.07463923372032893, 0.0020817799708161716, -0.1581846956136688, 0.2049644331808348, -0.039853001903020296, -0.05754126672183423, -0.041366947019159404, -0.038960477730121644, 0.004588175344625034]}
+{"iteration": 9, "loss": 1.0000744623539504e-05, "raw_theta": [0.07539147653938558, 0.001401727042744985, -0.1574191503181874, 0.2035865205844259, -0.03993725815800909, -0.05872098045001648, -0.04102355164279396, -0.03881603474724634, 0.004082790751357923]}
diff --git a/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/colors.json b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/colors.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed5ca8fb8d0529b082dedfd2c4bbc8e64c95701a
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/colors.json
@@ -0,0 +1,67 @@
+{
+  "status": "ok",
+  "settings": {
+    "depth_tolerance_m": 0.025
+  },
+  "outputs": {
+    "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views",
+    "two_sided": true,
+    "depth_tolerance_m": 0.025,
+    "first_hit_tolerance_m": 0.0002,
+    "per_view": [
+      {
+        "view": 0,
+        "serial": "12540311",
+        "observed_vertices": 359,
+        "projected_inside": 450,
+        "first_hit": 384
+      },
+      {
+        "view": 1,
+        "serial": "12933256",
+        "observed_vertices": 352,
+        "projected_inside": 450,
+        "first_hit": 375
+      },
+      {
+        "view": 2,
+        "serial": "17736741",
+        "observed_vertices": 354,
+        "projected_inside": 450,
+        "first_hit": 365
+      },
+      {
+        "view": 3,
+        "serial": "23007103",
+        "observed_vertices": 343,
+        "projected_inside": 450,
+        "first_hit": 368
+      }
+    ],
+    "observed_vertices": 426,
+    "filled_vertices": 24,
+    "fill_color_rgb": [
+      0.39170428611452435,
+      0.34461598617147865,
+      0.2982865775016359
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+    "glb_roundtrip": {
+      "float32_positions_exact": true,
+      "vertex_colors_exact": true,
+      "uv_count": 0,
+      "vertex_reordered_on_open3d_load": true
+    },
+    "files": {
+      "colors/vertex_colors.npz": "c6692cfd5d8997b004a2bb6428700f77798aac105e1c5271d85178865a2adfad",
+      "colors/color_summary.json": "b01893713ca7e819c2c4c74852bb366f1aa4ff13ca44fc895dce34a4a9c3d428",
+      "ribbon/shape_prior.glb": "74b3ca1fcccecd73b2637b34b37117c492b96c84cff0210063c1c83f24edeb45",
+      "ribbon/ribbon.ply": "c0901ab125b1c96f93debbd0a720c808453a951beee5763425c226e58b6068d0",
+      "gaussian_data/session_20260921_232447_904863/shape_prior.glb": "74b3ca1fcccecd73b2637b34b37117c492b96c84cff0210063c1c83f24edeb45"
+    }
+  },
+  "code": {
+    "commit": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 2.749924659729004
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/diagnose-depth.json b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/diagnose-depth.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddc51e72590498eab9b278a53a3cd6e4758d3661
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/diagnose-depth.json
@@ -0,0 +1,110 @@
+{
+  "status": "ok",
+  "settings": {
+    "correction": "none",
+    "annulus_px": [
+      20,
+      80
+    ]
+  },
+  "outputs": {
+    "report": {
+      "annulus_px": [
+        20,
+        80
+      ],
+      "interior_erosion_px": 2,
+      "correction_applied": false,
+      "views": [
+        {
+          "view": 0,
+          "serial": "12540311",
+          "annulus_count": 98303,
+          "belt_interior_count": 9976,
+          "belt_edge_count": 4272,
+          "table_median_z_m": -0.0027147307429901124,
+          "belt_interior_median_z_m": 0.015543532596065057,
+          "belt_edge_median_z_m": 0.000326684831500168,
+          "belt_minus_table_m": 0.01825826333905517,
+          "edge_minus_table_m": 0.0030414155744902804,
+          "table_p10_p90_z_m": [
+            -0.004579916593796396,
+            -6.069012880163259e-05
+          ],
+          "belt_interior_p10_p90_z_m": [
+            0.002258065359628636,
+            0.026033561906993352
+          ]
+        },
+        {
+          "view": 1,
+          "serial": "12933256",
+          "annulus_count": 73308,
+          "belt_interior_count": 14834,
+          "belt_edge_count": 3409,
+          "table_median_z_m": -0.000899072801670231,
+          "belt_interior_median_z_m": 0.011592079043028114,
+          "belt_edge_median_z_m": 0.0014538007694089305,
+          "belt_minus_table_m": 0.012491151844698345,
+          "edge_minus_table_m": 0.0023528735710791615,
+          "table_p10_p90_z_m": [
+            -0.0023750214494079437,
+            -0.00021616650005275016
+          ],
+          "belt_interior_p10_p90_z_m": [
+            0.001102287060833962,
+            0.021023438759121098
+          ]
+        },
+        {
+          "view": 2,
+          "serial": "17736741",
+          "annulus_count": 96528,
+          "belt_interior_count": 11022,
+          "belt_edge_count": 4176,
+          "table_median_z_m": -0.0013086110246862681,
+          "belt_interior_median_z_m": 0.015103218192476842,
+          "belt_edge_median_z_m": 0.00040909829422497435,
+          "belt_minus_table_m": 0.01641182921716311,
+          "edge_minus_table_m": 0.0017177093189112425,
+          "table_p10_p90_z_m": [
+            -0.002662438065463013,
+            0.0013424236467180276
+          ],
+          "belt_interior_p10_p90_z_m": [
+            0.000983160053884258,
+            0.024513056551596444
+          ]
+        },
+        {
+          "view": 3,
+          "serial": "23007103",
+          "annulus_count": 61035,
+          "belt_interior_count": 10024,
+          "belt_edge_count": 2936,
+          "table_median_z_m": -0.00012771410620104895,
+          "belt_interior_median_z_m": 0.01568957637266527,
+          "belt_edge_median_z_m": 0.0022315178344641806,
+          "belt_minus_table_m": 0.01581729047886632,
+          "edge_minus_table_m": 0.0023592319406652296,
+          "table_p10_p90_z_m": [
+            -0.0005508163232103902,
+            0.00031417805329438933
+          ],
+          "belt_interior_p10_p90_z_m": [
+            0.0050244110802296965,
+            0.024970206768702048
+          ]
+        }
+      ]
+    },
+    "files": {
+      "inputs/depth_offset_diagnostic.json": "bef8e88f4a1ba4764f96510ad9555287b8a2a36c2139063a2646f7982e716eff"
+    }
+  },
+  "code": {
+    "commit": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 0.3204019069671631
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/fit.json b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/fit.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6cf26df960ac68105d1cb2552ad27921ff94324
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/fit.json
@@ -0,0 +1,372 @@
+{
+  "status": "ok",
+  "settings": {
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+      "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",
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+      "huber_delta_m": 0.005,
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+      "baseline_run": null
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+      "lambda_curvature_cost": 5e-08,
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+      "loss": "3D ribbon distance + weight x two-sided surface mask term + twist penalty",
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+    }
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+      "seed": 6,
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+      "points": 288,
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+      "stop": "gradient_tolerance",
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+      "twist_stop": "CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH"
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+      "spline/reprojection.json": "7c478fbad470ec567ef55f824bed9fecd9d2052a949246df182771ca61e77be8"
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+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
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+}
\ No newline at end of file
diff --git a/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/hybrid.json b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/hybrid.json
new file mode 100644
index 0000000000000000000000000000000000000000..38972924fee25c5b2efa3f624a2188e9526bb699
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/hybrid.json
@@ -0,0 +1,24 @@
+{
+  "status": "ok",
+  "settings": {
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f",
+    "numpy_seed": 0,
+    "points_per_triangle": 30
+  },
+  "outputs": {
+    "counts": {
+      "observed": 44603,
+      "mesh": 21600,
+      "total": 66203,
+      "mesh_to_observed": 0.4842723583615452
+    },
+    "files": {
+      "hybrid/populations.npz": "87236753203db7262e80a5662eafdde7892560e3a25ef6a83873b5b8c93cdd7d"
+    }
+  },
+  "code": {
+    "commit": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 2.137479782104492
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/inputs.json b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/inputs.json
new file mode 100644
index 0000000000000000000000000000000000000000..784931892831adfc05c5a54c66c6e2709ae1d994
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/inputs.json
@@ -0,0 +1,216 @@
+{
+  "status": "ok",
+  "settings": {
+    "object": "grey_timing_belt",
+    "depth_source": "waft_stereo_dav2l5",
+    "depth_stream_ids": [
+      "zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth",
+      "zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth",
+      "zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth",
+      "zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth"
+    ],
+    "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232447_904863/window_anchor0336-0500/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+    "frames_sha256": "613c5cf53e7ae841de9393524bc38b595a57414f8a9751f11182336f1c4f72d8",
+    "signed_native_frames_sha256": {
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+      "17736741": "c7377afa027b4139e2b0ecdf10441e8529cdb4e35a1fe592e17994e30a522a10",
+      "23007103": "1f9caffc6c034f78f58fd2485943fc98bd3a37f3be86b1c6f18040a476e80d1f"
+    },
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+      "17736741": "7de9fe33d919f03baa8afe162ba31fc9204a69895c1edccd5689b2cb2e99bc0c",
+      "23007103": "c7f8c53d5e562537521995602d73c9a73d755f94873a0b63507839c5e26138af"
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+          "live_20_0.05_kept": 6979,
+          "no_filter_kept": 11022
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+          "live_20_0.05_kept": 3727,
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+    "parent": null,
+    "unfitted_inputs": true,
+    "fitting_bundle_sha256": "279fd4fe44f21c5ec9ce1ca0cd6a64835ecbbb49b20e4d834d6d4a8e8ae62a44",
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\ No newline at end of file
diff --git a/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/review.json b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/review.json
new file mode 100644
index 0000000000000000000000000000000000000000..d62ec7601dcffe39bc279663574043c85c232984
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/review.json
@@ -0,0 +1,66 @@
+{
+  "status": "ok",
+  "settings": {
+    "historical_prior": null,
+    "historical_sha256": null,
+    "baseline_fit": null
+  },
+  "outputs": {
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+      "rerun/appearance_spline_prior.rrd": "303907ae9f4ce03784b13ca040aebba18ee8836337fb2beda11e3ea88f6dfb7d"
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+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
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+}
\ No newline at end of file
diff --git a/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/ribbon.json b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/ribbon.json
new file mode 100644
index 0000000000000000000000000000000000000000..314e88cd0e0ef85bbcd661a97214bfb11735cbe6
--- /dev/null
+++ b/sessions/session_20260921_232447_904863/preprocessing/timing-belt-ribbon-prior-padded-v2/native/steps/ribbon.json
@@ -0,0 +1,71 @@
+{
+  "status": "ok",
+  "settings": {
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+    "step_t": 0.1,
+    "u_resolution": 5,
+    "interior": "none (owner surface-only route)"
+  },
+  "outputs": {
+    "checks": {
+      "representation": "zero-thickness intrinsic ribbon surface (open width edges)",
+      "euler_characteristic": 0,
+      "watertight": false,
+      "components": 1,
+      "winding_consistent": true,
+      "boundary_loop_edges": [
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+        90
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+      "open3d_reported_intersecting_pairs": 0,
+      "confirmed_intersecting_pairs": [],
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+      "triangle_area_m2": {
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+      "u_resolution": 5,
+      "passed": true
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+      "ribbon/ribbon_checks.json": "ebe14510c34f1d4f4fe6853a00107e5718c58eb148cabd6c9ffaa5238cb618da"
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+}
\ No newline at end of file