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sha256:efa0a4a21320ff8e6c5802d300b2cf633ddbe3cbed3f9eba524644bc0e6dd985 -size 56328 diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log deleted file mode 100644 index ff915e3e77125d541e9ca2c1603431d90c3b2fa0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/colors.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json deleted file mode 100644 index e04641a578aa25c965c3677054f2dfac0e3eb840..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-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_stronger_reprojection_v2" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:49:30.919927+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json deleted file mode 100644 index 897dd63ca57b63945cec05c94bb60bf3a3867d87..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 2.571613234002143, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit.log deleted file mode 100644 index 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a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json deleted file mode 100644 index d06ca4e635064b01240cb7105f651034f8022f29..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "--chain-curvature-weight", - "5e-09", - "--chain-control-count", - "18" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:49:02.852600+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json deleted file mode 100644 index 9b6680075b01ace5c260ba83d1bd69853485722f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 22.6809291850077, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log deleted file mode 100644 index d707074293e0e4e557a2df76eafc11150aee9bf3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/hybrid.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json deleted file mode 100644 index c36ad30c0f8a4ec9ba4acca881358d65f74723c9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:49:33.491772+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json deleted file mode 100644 index ae5b817bdd7d24d4c25c054384601b9d9b3d3cb3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 2.2655834530014545, - "source_commit": 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b/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json deleted file mode 100644 index f081d0d7be717cc22aa1770af3334011d25be607..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-prior-stronger-reprojection-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_stronger_reprojection_v2" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:49:48.588405+00:00" -} 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b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json deleted file mode 100644 index da5c0595ea7c15cb7d81b9e316f6c95a8b724ab9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1" - ], - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "owner_acceptance": 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a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log deleted file mode 100644 index e85291abd2d1cd9205aa79f3722bae578aed9330..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/fit.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json deleted file mode 100644 index c3648a893dd430f156abf3128ff5a632b740655e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:45:46.565338+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json deleted file mode 100644 index feb182788b953d38f951b6b600b9aaaa43892460..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 22.022456884384155, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log deleted file mode 100644 index 73deeccf92dec5d47c3f81ed5a8fae0d2876d70f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/hybrid.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json deleted file mode 100644 index a9800a9b91ef6ef34f94ccefaee886c5bdf66da3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:46:16.222256+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json deleted file mode 100644 index c497c39ddb7614b70638309b2757c289d60eabcb..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 2.2873377799987793, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log deleted file mode 100644 index 3996b84041c210e789b12d2de8ad1b4f7a6e8a9e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/inputs.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json deleted file mode 100644 index 810bfae0ba848ef8f4de5c3ee6eca35a5c003371..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546", - "--object", - "bike_chain", - "--unfitted-inputs", - "--fitting-bundle", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:45:18.612424+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json deleted file mode 100644 index c31d50dc3bc3831e6041795b024a1b382efdc1d4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 26.388787031173706, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log deleted file mode 100644 index 78a9db54ab83351dffbb50721d1af4941f04c648..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/manifest.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json deleted file mode 100644 index b938d7accc4c1e6a725bce813e55ba31c3d93d7b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:46:30.444460+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json deleted file mode 100644 index ff604248cb49b55a8984d1a0d1c66bf35da31037..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 1.3243305683135986, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log deleted file mode 100644 index db35b7899c1aeed7b4b5638fb1013bc7ffbf9866..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/review.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json deleted file mode 100644 index 60cbaa9be49414e98ee8ab1a54a883c5b9eb73e3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:46:18.518605+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json deleted file mode 100644 index ff65568c7e273eaffc36f5e160b07c7ef66d9650..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 11.900348901748657, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log deleted file mode 100644 index 7726fefbb62ba780dd0abf5043107046e2370067..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/tube.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_argv.json deleted file mode 100644 index 16aa4fabf1afbaa9624146b217d0fd03311d9c68..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T21:46:08.594466+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json deleted file mode 100644 index cf25e56d7ae0a399986774eb4f837343841ace94..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 4.9925055503845215, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_complete.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_complete.json deleted file mode 100644 index 9ebf7861cd627231f5bfacd73e8a1b77be755dce..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_complete.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "phase": "reference", - "completed_utc": "2026-10-28T21:20:55.727990+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_lift_depth_consistency_argv.json deleted file mode 100644 index ba26a53ddc3fd1ee2090429a77906e9987324292..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546", - "--selected-session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927", - "--selected-frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks", - 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a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks.log deleted file mode 100644 index 576bfe3faf0ee48fcff5580dc619ad997cea9779..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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. (Triggered internally at /pytorch/aten/src/ATen/native/TensorShape.cpp:4381.) - return _VF.meshgrid(tensors, **kwargs) # type: ignore[attr-defined] -12540311: saved 291 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12540311.npz -12933256: saved 291 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12933256.npz -17736741: saved 292 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_17736741.npz -23007103: saved 293 native frames and 5000 joint queries to /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_23007103.npz diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks_argv.json deleted file mode 100644 index 5b0372978bcb473c622ccee7fc573d067f0349e2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks_argv.json +++ /dev/null @@ -1,30 +0,0 @@ -{ - 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"--checkpoint", - "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/rt_waft_tapnextpp_refit_01/checkpoints/tapnextpp_512.ckpt", - "--device", - "cuda", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks" - ], - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "owner_acceptance": "/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", - "started_utc": "2026-10-28T21:05:22.716738+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks_result.json deleted file mode 100644 index 33204cf9057b47ae9a9cf1360128989dbc219a8d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/batch_reference_tapnextpp_tracks_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 238.3934361934662, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/chain_prior_revocation_preparation_state_20261028.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/chain_prior_revocation_preparation_state_20261028.json deleted file mode 100644 index ec99c2c618f4d76706282b820d7c1cec27660c99..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/chain_prior_revocation_preparation_state_20261028.json +++ /dev/null @@ -1,30 +0,0 @@ -{ - "owner_revocation": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/owner_prior_revocation_20261028.json", - "stage_snapshot": { - "appearance_check_v1": { - "state": "not started" - }, - "appearance_train_v1": { - "state": "not started" - }, - "appearance_review_v1": { - "state": "not started" - }, - "mech_v2": { - "state": "not started" - }, - "mech_v3": { - "state": "not started" - }, - "mech_center_v3": { - "state": "not started" - }, - "mech_supervision": { - "state": "not started" - }, - "mech_center_supervision": { - "state": "not started" - } - }, - "completed_and_partial_outputs": "preserved without deletion or retry" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/12540311/inspection/frames.npz b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/12540311/inspection/frames.npz deleted file mode 100644 index d588e806a806766b8e4438f0657afbddc8fde31c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/12540311/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c9ee992b4fe990a91356fa0ed58c7d74927aadec6892e1186063436d8a9df663 -size 76608 diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/12933256/inspection/frames.npz b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/12933256/inspection/frames.npz deleted file mode 100644 index 447f1ae5eac86715004d2c783b99e47be1c1f504..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/12933256/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3e635b00202c34a8c0ead41218d28f055da7eb002126dc04641b58aaacc82d8b -size 76608 diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/17736741/inspection/frames.npz b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/17736741/inspection/frames.npz deleted file mode 100644 index a75b32cf5f1546ebe3969e7d6036097abcbef72d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/17736741/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:eb7496fca2c31e226775986c5e57fa9c7ea0557c2b711d3debe99008d7afe98f -size 76820 diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/23007103/inspection/frames.npz b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/23007103/inspection/frames.npz deleted file mode 100644 index 33639e3ce240f6e7d7524517880a88dc6c2f2372..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/cameras/23007103/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:91fa5815823818b39a35f50fbf5e92c348936e040ec38582185dd056544b2ea5 -size 77032 diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/per_camera_inputs.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/per_camera_inputs.json deleted file mode 100644 index 58ac287554705d800655a1760eacaf2f9e391e8b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/frames_waft/per_camera_inputs.json +++ /dev/null @@ -1,33 +0,0 @@ -{ - "annotation_ns": [ - 1790047879385946319, - 1790047889122513771 - ], - "anchor_view": 0, - "cameras": [ - { - "view_index": 0, - "serial": "12540311", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/cameras/12540311/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/12540311" - }, - { - "view_index": 1, - "serial": "12933256", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/cameras/12933256/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/12933256" - }, - { - "view_index": 2, - "serial": "17736741", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/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/accepted_input_preparation_c6a_v1/frames_waft/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/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/AGENT_FINDINGS.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/AGENT_FINDINGS.md deleted file mode 100644 index 633c0603e7bdd8482abd6582558a050baf39d9a7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/AGENT_FINDINGS.md +++ /dev/null @@ -1,42 +0,0 @@ -# 233045 — lower curvature candidate review - -The completed candidate passes the saved numerical, input-preservation and geometry checks. **21 panels and nine orbit samples were directly inspected. Owner acceptance remains pending; previous chain-prior acceptances remain revoked.** This review grants no mechanics, appearance-training or physical-fitting authorization. - -Goal: review this full initial prior and compare it with the preserved 18-control baseline. Done when: settings/input/numeric checks and the actual visual inspection are complete and saved. Non-goals: refitting, changing observations or recording approval. - -The requested settings are **18 controls, curvature weight 5e-10, reprojection weight 4**. All other scientific settings exactly match the baseline, including the solver, input cloud/masks, 4.75 mm radius and tube sampling. All six preparation stages and the single packaging/check invocation returned zero. All 27 true observation/filter/step files remain byte-equal; original baseline fit/manifest and this saved fit remain unchanged. The derived Gaussian shape_prior.glb was newly generated and equals this candidate's tube GLB. - -[Numerical checks](numeric_prior_review.json) · [Exact visual record](agent_visual_review.json) · [Metrics and camera links](PRIOR_REVIEW_c6a_v1.md) · [Common comparison values](baseline_comparison.json) - -| Common diagnostic | Baseline: curvature 5e-9 / reprojection 4 | This candidate | -|---|---:|---:| -| Mean point-to-centerline distance (mm) | 7.492554 | 7.476475 | -| Mean of camera mean reprojection distances (mm) | 3.539597 | 3.538436 | -| Length (mm) | 585.575 | 585.561 | -| Distance outside soft length bounds (mm) | 0.575 | 0.561 | -| Maximum curvature (/m) | 32.094 | 34.651 | -| Median curvature (/m) | 11.833 | 11.821 | -| Outer rounds | 1 | 1 | -| Final gradient norm | 9.13397e-05 | 9.94576e-05 | - -Against the preserved18-control baseline, lowering only curvature weight5e-9→5e-10 changes the mean point-to-centerline distance7.492554→7.476475 mm and mean-view reprojection3.539597→3.538436 mm. Peak curvature rises32.094→34.651/m, while length changes585.575→585.561 mm. The unmasked silhouettes are visually very close at their saved resolution, with no clear recovery of a previously missing sharp corner. This is a small aggregate change rather than evidence of a broadly improved reconstruction. - -The total objectives are **not directly comparable** after a coefficient changes. Common residuals are diagnostic, not ground-truth error; the stored comparison also gives reprojection loss before its weight. All runs retain the absolute 1e-4 gradient tolerance, which can change effective precision when a term is reweighted. This candidate stopped on `gradient_tolerance`; one outer round permits up to 25 L-BFGS updates, whose actual count is not saved. The 400-round value is only a budget. The single-round convergence line plot appears blank because one point is plotted without a marker; the saved round record equals the final result. [Saved rounds](../prior_chain_lower_curvature_v2/spline/rounds.jsonl). - -The four input/mask sets show the same broad tabletop loop and single hand_A grip. The centerline and tube follow the exposed contour but smooth the discrete links and local bends. Camera 17736741 retains small visible edge offsets near the grip-side contour. The lower arc drawn across the hand in camera 12540311 is hidden completion and does not independently establish occluded shape or hand penetration. - -The scale, hybrid,3D and tube-profile panels show a coherent near-planar loop. Measured depth points lie above and laterally around the tube, and the side/3D axes are vertically expanded. Read-only chain-interior-minus-local-table depth medians remain approximately12.15/8.22/11.40/9.70 mm in camera order. No table/depth correction was performed. - -The residual histograms retain broad camera-dependent distributions, with their longer tails below about16 mm. These are distances to a centerline. The curvature profile shows several broad bends and smaller oscillations, with a peak near34.65/m; it does not resolve separate link joints. The single-round line plot has no visible marker and appears blank, while the numerical round is present. - -Color fill is concentrated on bottom-facing vertices and the hidden grip interval. The sampled orbit shows one continuous, consistently sized ring structure from all nine azimuths, with no visible gross crossing, detached segment, collapse or seam opening. The ring points visualize a continuous tube, not individual chain links. - -Saved geometry checks report **144 rings, 1,728 vertices, 3,456 triangles**, one consistently wound watertight component and **zero confirmed surface intersections**. Maximum recomputed radial error is **6.92e-09 m**. Minimum nonadjacent ring-center distance is **6.490 mm**; this remains a diagnostic, not a substitute for the surface-intersection rule. Tube z spans **-0.295 to 11.814 mm** relative to nominal table z=0. No table snapping, depth correction or contact validation was performed. - -Colors are observed for **1213 vertices** and median-filled for **515**. Saved GLB roundtrip checks report exact float32 positions and colors, and colored-GLB hashes match current files. Hybrid initialization contains **25,253 observed + 103,680 mesh-derived = 128,933 seeds**. These populations match the baseline counts because all runs use 18 controls and the same observation bank/sampling settings. They are appearance seeds, not mechanical particles or mass. Seven checked NPZ families are finite; per-view residual quantiles recompute to their recorded values. - -Orbit frames **0, 4, 9, 13, 18, 22, 26, 31, 35 of 36** were inspected individually. [Rotation](../prior_chain_lower_curvature_v2/review/tube/orbit.mp4) · [Inspected orbit frames](orbit_frames.json). The 21 panels comprise four input/mask sets, four masked centerlines, four unmasked silhouettes and nine diagnostic panels. The smooth tube does not model individual chain links or prove the shape behind the hand. - -This is a hand_A-only sequence. The preserved temporal reference review reports camera 12540311 zero admitted object support at native-relative frames 172–248 inclusive, 11 nonfinite mask-bin coverage entries, and large derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach −348 mm at frame 167 and +98 mm at 166. These compare common valid support, not ground-truth errors. The initial prior does not repair later measurements or establish physical attachment. [Preserved temporal review](../review_v1/REVIEW.md). - -Only this new packet and scoped review scratch were written by the reviewer. No prior has been accepted by this review. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/PRIOR_REVIEW_c6a_v1.md deleted file mode 100644 index ee55e5cc331a6c19329f9d92ac07a053d73c2140..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927 — prior approval pending - -Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual review is complete; owner acceptance remains pending, and earlier chain acceptances remain revoked. See [findings and baseline comparison](AGENT_FINDINGS.md). Saved values and media are linked here; the agent assessment is recorded separately. 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 / 256 / 257 | [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 | 0 / 255 / 256 | [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 / 256 / 257 | [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 / 255 / 256 | [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 **585.561 mm**, maximum curvature **34.651/m**, final gradient norm **9.94576e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 0.561 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 | 8.426 / 12.550 | 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 | 5.851 / 8.524 | 99.42% | [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 | 7.822 / 10.361 | 98.51% | [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 | 8.048 / 10.580 | 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 **25253 of 26278** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. - -Appearance initialization contains **25253 observed + 103680 mesh-derived = 128933 seeds**. Vertex colors are observed for 1213 mesh vertices and median-filled for 515. 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>) - -The agent inspected 21 panels and 9 orbit frames; see [the exact visual record](agent_visual_review.json) and [findings](AGENT_FINDINGS.md). 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_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_visual_review.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_visual_review.json deleted file mode 100644 index 89f92f8839e1699a3e93f63e8fe96739d0906115..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/agent_visual_review.json +++ /dev/null @@ -1,168 +0,0 @@ -{ - "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", - "candidate": "lower_curvature", - "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_lower_curvature_v2", - "reviewed_at_utc": "2026-10-28T22:50:33.212167+00:00", - "review_kind": "bounded numeric and visual review of completed owner-requested chain weight candidate", - "readiness": "ready_for_owner_comparison_with_disclosed_limits", - "blocking_findings_for_review_completion": [], - "owner_prior_acceptance": "pending; all earlier chain prior acceptances remain revoked", - "scope": { - "goal": "Review the completed candidate and compare common diagnostics against the preserved 18-control baseline.", - "done_when": "Six successful stages, single scoped packaging/check invocation,21 actual panels and 9 orbit samples inspected, numerical/settings/input checks and findings saved.", - "non_goals": [ - "No scientific execution, fitting or source changes", - "No global or approval changes", - "No mechanics, appearance training or physical-fitting approval" - ] - }, - "job": { - "case_id": "233045", - "session_id": "session_20260921_233045_819927", - "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", - "prep": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1", - "candidate": "lower_curvature", - "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", - "review": "/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_lower_curvature_v2", - "baseline": "/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", - "settings": { - "control_count": 18, - "lambda_curvature_cost": 5e-10, - "reprojection_weight": 4.0 - }, - "baseline_manifest_sha256": "5c3f560eea985f9d376beed25f62328301e6e0206822ef4600447365e66556fa", - "baseline_fit_sha256": "1447d06033aef8a695483ebe1fa9cd15f4036f0e66c80028257fba96cf9c5d25" - }, - "packaging_and_check_result": { - "returncode": 0, - "elapsed_s": 12.435457742001745, - "completed_utc": "2026-10-28T22:49:25.946816+00:00", - "argv": [ - "flock", - "-x", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", - "/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/outputs/c6a_recovery/agent_drafts/chain_weight_pair_review_233045_233144_20261028/package_and_check.py", - "--case", - "233045", - "--candidate", - "lower_curvature" - ] - }, - "numeric_review_path": "numeric_prior_review.json", - "baseline_comparison_path": "baseline_comparison.json", - "unchanged_input_count": 27, - "geometry_checks": { - "euler_characteristic": 0, - "watertight": true, - "components": 1, - "winding_consistent": true, - "signed_volume_m3": 3.960661028893604e-05, - "minimum_outward_normal_dot_m": 0.004576825279004107, - "degenerate_triangles": 0, - "self_intersecting": false, - "maximum_radius_error_m": 6.9153748023104145e-09, - "maximum_diameter_error_m": 1.3777929009500811e-08, - "bishop_seam_error": 5.960464477539063e-08, - "minimum_nonadjacent_centerline_distance_m": 0.006490403928688424, - "triangle_area_m2": { - "min": 3.4466013380590655e-06, - "median": 4.824200162505392e-06, - "mean": 4.996909081105077e-06, - "max": 7.1740850912082675e-06, - "density_max_over_min": 2.0814954755539885 - }, - "bounds_m": [ - [ - -0.09602177143096924, - -0.21334518492221832, - -0.0002952171489596367 - ], - [ - 0.07283338904380798, - 0.006489256862550974, - 0.011814262717962265 - ] - ], - "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 - }, - "glb_roundtrip_checks": { - "float32_positions_exact": true, - "vertex_colors_exact": true, - "uv_count": 0, - "vertex_reordered_on_open3d_load": true - }, - "observed_counts_unchanged": true, - "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" - ], - "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" - ], - "visual_coverage": { - "panel_count": 21, - "orbit_sample_count": 9, - "method": "Each actual PNG was opened and inspected individually through local image viewing, in labeled batches. Four baseline unmasked silhouettes were separately inspected for comparison." - }, - "baseline_silhouettes_inspected": [ - "review/tube/silhouette_0_unmasked.png", - "review/tube/silhouette_1_unmasked.png", - "review/tube/silhouette_2_unmasked.png", - "review/tube/silhouette_3_unmasked.png" - ], - "observations": [ - "The four input/mask sets show the same broad tabletop loop and single hand_A grip. The centerline and tube follow the exposed contour but smooth the discrete links and local bends. Camera 17736741 retains small visible edge offsets near the grip-side contour. The lower arc drawn across the hand in camera 12540311 is hidden completion and does not independently establish occluded shape or hand penetration.", - "The scale, hybrid,3D and tube-profile panels show a coherent near-planar loop. Measured depth points lie above and laterally around the tube, and the side/3D axes are vertically expanded. Read-only chain-interior-minus-local-table depth medians remain approximately12.15/8.22/11.40/9.70 mm in camera order. No table/depth correction was performed.", - "The residual histograms retain broad camera-dependent distributions, with their longer tails below about16 mm. These are distances to a centerline. The curvature profile shows several broad bends and smaller oscillations, with a peak near34.65/m; it does not resolve separate link joints. The single-round line plot has no visible marker and appears blank, while the numerical round is present.", - "Color fill is concentrated on bottom-facing vertices and the hidden grip interval. The sampled orbit shows one continuous, consistently sized ring structure from all nine azimuths, with no visible gross crossing, detached segment, collapse or seam opening. The ring points visualize a continuous tube, not individual chain links." - ], - "comparison_observations": [ - "Against the preserved18-control baseline, lowering only curvature weight5e-9\u21925e-10 changes the mean point-to-centerline distance7.492554\u21927.476475 mm and mean-view reprojection3.539597\u21923.538436 mm. Peak curvature rises32.094\u219234.651/m, while length changes585.575\u2192585.561 mm. The unmasked silhouettes are visually very close at their saved resolution, with no clear recovery of a previously missing sharp corner. This is a small aggregate change rather than evidence of a broadly improved reconstruction." - ], - "blocking_findings": [], - "limitations": [ - "The 4.75 mm radius continuous circular tube does not model individual links, gaps, rollers, plates or articulation; hidden geometry is inferred.", - "Length 585.561216 mm is 0.561237 mm outside the soft interval. The 10/m threshold and 80/m smooth saturation are penalty parameters, not hard curvature bounds.", - "Tube z bounds are -0.295217 to 11.814263 mm relative to nominal table z=0. Depth/table offsets and contact uncertainty remain unchanged.", - "A lower common residual does not establish ground-truth shape accuracy. Changed objective totals are not ranked; fixed absolute gradient tolerance can affect effective precision when weights change.", - "This is a hand_A-only sequence. The preserved temporal reference review reports camera 12540311 zero admitted object support at native-relative frames 172\u2013248 inclusive, 11 nonfinite mask-bin coverage entries, and large derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach \u2212348 mm at frame 167 and +98 mm at 166. These compare common valid support, not ground-truth errors. The initial prior does not repair later measurements or establish physical attachment.", - "Inspection covers 21 saved panels and nine orbit frames, not every video frame. No mechanics, appearance training or physical fit is assessed or accepted." - ], - "approval_effect": "No approval is recorded; execution authorization is not acceptance." -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/baseline_comparison.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/baseline_comparison.json deleted file mode 100644 index 4a305a35b02829412ee80826d3f07e2ccfae2c7d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/baseline_comparison.json +++ /dev/null @@ -1,47 +0,0 @@ -{ - "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", - "control_count": 18, - "curvature_weight": 5e-09, - "reprojection_weight": 4.0, - "mean_point_to_centerline_mm": 7.49255351546465, - "mean_of_camera_mean_reprojection_mm": 3.5395966789004634, - "length_mm": 585.574746131897, - "length_outside_soft_bounds_mm": 0.5747675895690918, - "maximum_curvature_per_m": 32.09360885620117, - "median_curvature_per_m": 11.833191394805908, - "common_3d_loss": 2.43807789956918e-05, - "unweighted_reprojection_loss": 8.112297109619249e-06, - "rounds": 1, - "stop": "gradient_tolerance", - "gradient_norm": 9.133969433605671e-05, - "wall_time_s": 20.815335273742676 - }, - "candidate": { - "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", - "control_count": 18, - "curvature_weight": 5e-10, - "reprojection_weight": 4.0, - "mean_point_to_centerline_mm": 7.476474553448394, - "mean_of_camera_mean_reprojection_mm": 3.538436009384114, - "length_mm": 585.561215877533, - "length_outside_soft_bounds_mm": 0.5612373352050781, - "maximum_curvature_per_m": 34.65119171142578, - "median_curvature_per_m": 11.820651531219482, - "common_3d_loss": 2.4305420083692297e-05, - "unweighted_reprojection_loss": 8.108469046419486e-06, - "rounds": 1, - "stop": "gradient_tolerance", - "gradient_norm": 9.945761121343821e-05, - "wall_time_s": 20.518172025680542 - }, - "same_observed_inputs": true, - "only_scientific_setting_change": { - "control_count": 18, - "lambda_curvature_cost": 5e-10, - "reprojection_weight": 4.0 - }, - "all_other_baseline_settings_match": true, - "total_objectives_comparable": false, - "interpretation": "Common raw residuals and unweighted reprojection losses are compared. The coefficient changes the objective; absolute gradient stopping also changes effective precision. No optimum or ground-truth accuracy claim." -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/numeric_prior_review.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/numeric_prior_review.json deleted file mode 100644 index 193a3fa81d501b720525b25c5e5917ceb9b09275..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_lower_curvature_v2/numeric_prior_review.json +++ /dev/null @@ -1,824 +0,0 @@ -{ - "scope": "Saved 233045 lower_curvature prior review only; no fitting, sampling or scientific correction executed by this reviewer.", - "job": { - "case_id": "233045", - "session_id": "session_20260921_233045_819927", - "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", - 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"input": 7626, - "kept": 7409, - "removed": 217, - "live_20_0.05_kept": 5361, - "no_filter_kept": 7626 - }, - { - "view": 3, - "input": 5072, - "kept": 4916, - "removed": 156, - "live_20_0.05_kept": 2537, - "no_filter_kept": 5072 - } - ] - }, - "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_233045_819927/window_anchor0256-0546/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": 5.679115201928653e-05, - "components": { - "distance": 2.4305420083692297e-05, - "curvature": 2.035648449805194e-08, - "arclength": 3.1498736063895194e-08, - "mask_reprojection_2d": 3.2433876185677946e-05 - }, - "grad_norm": 9.945761121343821e-05, - "arclength_m": 0.585561215877533, - "arclength_bound_active_within_1mm": true, - "max_curvature_per_m": 34.65119171142578, - "curvature_p50_p90_per_m": [ - 11.820651531219482, - 28.5174560546875 - ], - "curvature_above_max_fraction": 0.548, - "mean_distance_m": 0.007476474553448394, - "max_distance_m": 0.015831395983695984, - "beyond_2delta_fraction": 0.15903061022452777, - "at_cap_fraction": 0.0, - "per_view": [ - { - "view": 0, - "count": 6305, - "median_m": 0.008426100015640259, - "p90_m": 0.012549719773232937, - "max_m": 0.015831395983695984, - "beyond_2delta_fraction": 0.336558287073751, - "at_cap_fraction": 0.0 - }, - { - "view": 1, - "count": 6623, - "median_m": 0.005850622896105051, - "p90_m": 0.00852353237569332, - "max_m": 0.012399449944496155, - "beyond_2delta_fraction": 0.015400875736071266, - "at_cap_fraction": 0.0 - }, - { - "view": 2, - "count": 7409, - "median_m": 0.007821778766810894, - "p90_m": 0.010361342132091523, - "max_m": 0.013155678287148476, - "beyond_2delta_fraction": 0.13078688082062356, - "at_cap_fraction": 0.0 - }, - { - "view": 3, - "count": 4916, - "median_m": 0.008047830313444138, - "p90_m": 0.010579573921859264, - "max_m": 0.015473984181880951, - "beyond_2delta_fraction": 0.16741253051261187, - "at_cap_fraction": 0.0 - } - ], - "round": 1, - "relative_loss_change": 0.9871605865552391 - }, - "arclength_soft_bounds_m": [ - 0.5830000042915344, - 0.5849999785423279 - ], - "arclength_outside_soft_bounds_m": 0.0005612373352050781 - }, - "geometry": { - "vertex_count": 1728, - "triangle_count": 3456, - "checks": { - "euler_characteristic": 0, - "watertight": true, - "components": 1, - "winding_consistent": true, - "signed_volume_m3": 3.960661028893604e-05, - "minimum_outward_normal_dot_m": 0.004576825279004107, - "degenerate_triangles": 0, - "self_intersecting": false, - "maximum_radius_error_m": 6.9153748023104145e-09, - "maximum_diameter_error_m": 1.3777929009500811e-08, - "bishop_seam_error": 5.960464477539063e-08, - "minimum_nonadjacent_centerline_distance_m": 0.006490403928688424, - "triangle_area_m2": { - "min": 3.4466013380590655e-06, - "median": 4.824200162505392e-06, - "mean": 4.996909081105077e-06, - "max": 7.1740850912082675e-06, - "density_max_over_min": 2.0814954755539885 - }, - "bounds_m": [ - [ - -0.09602177143096924, - -0.21334518492221832, - -0.0002952171489596367 - ], - [ - 0.07283338904380798, - 0.006489256862550974, - 0.011814262717962265 - ] - ], - "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": 25253, - "mesh": 103680, - "total": 128933, - "mesh_to_observed": 4.105650813764702 - }, - "vertex_colors": { - "observed_vertices": 1213, - "filled_vertices": 515 - }, - "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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/review/tube/tube_scale_views.png", - 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"derived_coverage": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/review_v1/summary.json", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json" - } -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/AGENT_FINDINGS.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/AGENT_FINDINGS.md deleted file mode 100644 index 44728b871c242513eb776d964c824a9d7622d939..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/AGENT_FINDINGS.md +++ /dev/null @@ -1,44 +0,0 @@ -# 233045 — stronger reprojection candidate review - -The completed candidate passes the saved numerical, input-preservation and geometry checks. **21 panels and nine orbit samples were directly inspected. Owner acceptance remains pending; previous chain-prior acceptances remain revoked.** This review grants no mechanics, appearance-training or physical-fitting authorization. - -Goal: review this full initial prior and compare it with the preserved 18-control baseline. Done when: settings/input/numeric checks and the actual visual inspection are complete and saved. Non-goals: refitting, changing observations or recording approval. - -The requested settings are **18 controls, curvature weight 5e-09, reprojection weight 8**. All other scientific settings exactly match the baseline, including the solver, input cloud/masks, 4.75 mm radius and tube sampling. All six preparation stages and the single packaging/check invocation returned zero. All 27 true observation/filter/step files remain byte-equal; original baseline fit/manifest and this saved fit remain unchanged. The derived Gaussian shape_prior.glb was newly generated and equals this candidate's tube GLB. - -[Numerical checks](numeric_prior_review.json) · [Exact visual record](agent_visual_review.json) · [Metrics and camera links](PRIOR_REVIEW_c6a_v1.md) · [Common comparison values](baseline_comparison.json) - -| Common diagnostic | Baseline: curvature 5e-9 / reprojection 4 | This candidate | -|---|---:|---:| -| Mean point-to-centerline distance (mm) | 7.492554 | 8.042299 | -| Mean of camera mean reprojection distances (mm) | 3.539597 | 3.397059 | -| Length (mm) | 585.575 | 586.326 | -| Distance outside soft length bounds (mm) | 0.575 | 1.327 | -| Maximum curvature (/m) | 32.094 | 55.487 | -| Median curvature (/m) | 11.833 | 12.996 | -| Outer rounds | 1 | 1 | -| Final gradient norm | 9.13397e-05 | 9.28922e-05 | - -With curvature weight held at5e-9 and reprojection weight4→8, mean-view image residual improves3.539597→3.397059 mm, while mean3D point-to-centerline residual worsens7.492554→8.042299 mm. Peak curvature increases32.094→55.487/m, and length increases585.575→586.326 mm. The grip-side turn becomes more angular in the inspected projections; this is a visible recipe tradeoff, not uniform improvement or evidence that inferred hidden geometry is correct. - -The lower-curvature alternative has only tiny aggregate movement from the same baseline (3D7.476475 mm, reprojection3.538436 mm, peak34.651/m). Stronger reprojection changes this case more visibly and favors image-plane fit at the expense of depth fit and greater soft-length excess. Both retain the same absolute gradient stop and are not ranked by total objective. - -The total objectives are **not directly comparable** after a coefficient changes. Common residuals are diagnostic, not ground-truth error; the stored comparison also gives reprojection loss before its weight. All runs retain the absolute 1e-4 gradient tolerance, which can change effective precision when a term is reweighted. This candidate stopped on `gradient_tolerance`; one outer round permits up to 25 L-BFGS updates, whose actual count is not saved. The 400-round value is only a budget. The single-round convergence line plot appears blank because one point is plotted without a marker; the saved round record equals the final result. [Saved rounds](../prior_chain_stronger_reprojection_v2/spline/rounds.jsonl). - -The four input/mask sets retain the same chain loop and hand_A grip. Exposed centerline locations remain broadly aligned with the object masks, while individual links and local edge offsets remain. The grip-side return is more angular than the baseline and lower-curvature candidate, most visible in camera 12933256 at the right-hand end and in camera 17736741 near the lower-left return. Part of that change lies in the hand-hidden completion; an overlay through the hand does not validate hidden shape. - -The scale, hybrid,3D and profile panels show a connected near-planar loop lying lower relative to the unchanged depth cloud than in the lower-curvature candidate. Side and oblique displays exaggerate the vertical axis. The depth-offset bar chart is unchanged, with chain-interior-minus-local-table medians approximately12.15/8.22/11.40/9.70 mm in camera order. No depth or ground correction was applied. - -The curvature plot has sharper peaks around the grip-side parameter interval, with saved peak55.49/m. Residual distributions broaden or shift relative to the baseline, consistent with the larger aggregate3D residual; camera-dependent depth spread remains. The single-round line plot appears blank without a point marker, while its numerical record is saved. - -Color-filled vertices mainly occupy the bottom-facing band and grip-hidden region. All nine orbit samples show a closed tube with consistent cross-section sampling and no visible gross crossing, disconnected segment, collapse or seam opening. Small local bends are clearer, but the visualization still depicts a smooth tube rather than separate links. - -Saved geometry checks report **144 rings, 1,728 vertices, 3,456 triangles**, one consistently wound watertight component and **zero confirmed surface intersections**. Maximum recomputed radial error is **7.58e-09 m**. Minimum nonadjacent ring-center distance is **5.642 mm**; this remains a diagnostic, not a substitute for the surface-intersection rule. Tube z spans **-1.392 to 10.065 mm** relative to nominal table z=0. No table snapping, depth correction or contact validation was performed. - -Colors are observed for **1187 vertices** and median-filled for **541**. Saved GLB roundtrip checks report exact float32 positions and colors, and colored-GLB hashes match current files. Hybrid initialization contains **25,253 observed + 103,680 mesh-derived = 128,933 seeds**. These populations match the baseline counts because all runs use 18 controls and the same observation bank/sampling settings. They are appearance seeds, not mechanical particles or mass. Seven checked NPZ families are finite; per-view residual quantiles recompute to their recorded values. - -Orbit frames **0, 4, 9, 13, 18, 22, 26, 31, 35 of 36** were inspected individually. [Rotation](../prior_chain_stronger_reprojection_v2/review/tube/orbit.mp4) · [Inspected orbit frames](orbit_frames.json). The 21 panels comprise four input/mask sets, four masked centerlines, four unmasked silhouettes and nine diagnostic panels. The smooth tube does not model individual chain links or prove the shape behind the hand. - -This is a hand_A-only sequence. The preserved temporal reference review reports camera 12540311 zero admitted object support at native-relative frames 172–248 inclusive, 11 nonfinite mask-bin coverage entries, and large derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach −348 mm at frame 167 and +98 mm at 166. These compare common valid support, not ground-truth errors. The initial prior does not repair later measurements or establish physical attachment. [Preserved temporal review](../review_v1/REVIEW.md). - -Only this new packet and scoped review scratch were written by the reviewer. No prior has been accepted by this review. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/PRIOR_REVIEW_c6a_v1.md deleted file mode 100644 index 26ee8e30f1acd61af96dd40410868e8b5142112c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927 — prior approval pending - -Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual review is complete; owner acceptance remains pending, and earlier chain acceptances remain revoked. See [findings and baseline comparison](AGENT_FINDINGS.md). Saved values and media are linked here; the agent assessment is recorded separately. 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 / 256 / 257 | [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 | 0 / 255 / 256 | [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 / 256 / 257 | [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 / 255 / 256 | [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 **586.326 mm**, maximum curvature **55.487/m**, final gradient norm **9.28922e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 1.327 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 | 9.476 / 13.591 | 99.67% | [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 | 6.041 / 8.726 | 98.27% | [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 | 8.889 / 11.095 | 98.78% | [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 | 8.546 / 11.228 | 98.85% | [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 **25253 of 26278** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **8**. - -Appearance initialization contains **25253 observed + 103680 mesh-derived = 128933 seeds**. Vertex colors are observed for 1187 mesh vertices and median-filled for 541. 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>) - -The agent inspected 21 panels and 9 orbit frames; see [the exact visual record](agent_visual_review.json) and [findings](AGENT_FINDINGS.md). 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_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_visual_review.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_visual_review.json deleted file mode 100644 index f91b63cde8749c8d7669a519a2074c3626d1df55..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/agent_visual_review.json +++ /dev/null @@ -1,169 +0,0 @@ -{ - "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", - "candidate": "stronger_reprojection", - "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_stronger_reprojection_v2", - "reviewed_at_utc": "2026-10-28T22:51:50.366640+00:00", - "review_kind": "bounded numeric and visual review of completed owner-requested chain weight candidate", - "readiness": "ready_for_owner_comparison_with_disclosed_limits", - "blocking_findings_for_review_completion": [], - "owner_prior_acceptance": "pending; all earlier chain prior acceptances remain revoked", - "scope": { - "goal": "Review the completed candidate and compare common diagnostics against the preserved 18-control baseline.", - "done_when": "Six successful stages, single scoped packaging/check invocation,21 actual panels and 9 orbit samples inspected, numerical/settings/input checks and findings saved.", - "non_goals": [ - "No scientific execution, fitting or source changes", - "No global or approval changes", - "No mechanics, appearance training or physical-fitting approval" - ] - }, - "job": { - "case_id": "233045", - "session_id": "session_20260921_233045_819927", - "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", - "prep": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1", - "candidate": "stronger_reprojection", - "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_stronger_reprojection_v2", - "review": "/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", - "baseline": "/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", - "settings": { - "control_count": 18, - "lambda_curvature_cost": 5e-09, - "reprojection_weight": 8.0 - }, - "baseline_manifest_sha256": "5c3f560eea985f9d376beed25f62328301e6e0206822ef4600447365e66556fa", - "baseline_fit_sha256": "1447d06033aef8a695483ebe1fa9cd15f4036f0e66c80028257fba96cf9c5d25" - }, - "packaging_and_check_result": { - "returncode": 0, - "elapsed_s": 11.510686502995668, - "completed_utc": "2026-10-28T22:50:59.801495+00:00", - "argv": [ - "flock", - "-x", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", - "/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/outputs/c6a_recovery/agent_drafts/chain_weight_pair_review_233045_233144_20261028/package_and_check.py", - "--case", - "233045", - "--candidate", - "stronger_reprojection" - ] - }, - "numeric_review_path": "numeric_prior_review.json", - "baseline_comparison_path": "baseline_comparison.json", - "unchanged_input_count": 27, - "geometry_checks": { - "euler_characteristic": 0, - "watertight": true, - "components": 1, - "winding_consistent": true, - "signed_volume_m3": 3.965270818487399e-05, - "minimum_outward_normal_dot_m": 0.004564246697878023, - "degenerate_triangles": 0, - "self_intersecting": false, - "maximum_radius_error_m": 7.578523522275282e-09, - "maximum_diameter_error_m": 1.3007551964358544e-08, - "bishop_seam_error": 5.960464477539063e-08, - "minimum_nonadjacent_centerline_distance_m": 0.005641593615100589, - "triangle_area_m2": { - "min": 2.888409919759856e-06, - "median": 5.039957914372212e-06, - "mean": 5.003005452000232e-06, - "max": 6.430496657860382e-06, - "density_max_over_min": 2.22631026637487 - }, - "bounds_m": [ - [ - -0.09577887505292892, - -0.21346457302570343, - -0.0013921016361564398 - ], - [ - 0.07397306710481644, - 0.005630197934806347, - 0.010065151378512383 - ] - ], - "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 - }, - "glb_roundtrip_checks": { - "float32_positions_exact": true, - "vertex_colors_exact": true, - "uv_count": 0, - "vertex_reordered_on_open3d_load": true - }, - "observed_counts_unchanged": true, - "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" - ], - "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" - ], - "visual_coverage": { - "panel_count": 21, - "orbit_sample_count": 9, - "method": "Each actual PNG was opened and inspected individually through local image viewing, in labeled batches. Four baseline unmasked silhouettes and the complete lower-curvature candidate were separately inspected." - }, - "baseline_silhouettes_inspected": [ - "review/tube/silhouette_0_unmasked.png", - "review/tube/silhouette_1_unmasked.png", - "review/tube/silhouette_2_unmasked.png", - "review/tube/silhouette_3_unmasked.png" - ], - "observations": [ - "The four input/mask sets retain the same chain loop and hand_A grip. Exposed centerline locations remain broadly aligned with the object masks, while individual links and local edge offsets remain. The grip-side return is more angular than the baseline and lower-curvature candidate, most visible in camera 12933256 at the right-hand end and in camera 17736741 near the lower-left return. Part of that change lies in the hand-hidden completion; an overlay through the hand does not validate hidden shape.", - "The scale, hybrid,3D and profile panels show a connected near-planar loop lying lower relative to the unchanged depth cloud than in the lower-curvature candidate. Side and oblique displays exaggerate the vertical axis. The depth-offset bar chart is unchanged, with chain-interior-minus-local-table medians approximately12.15/8.22/11.40/9.70 mm in camera order. No depth or ground correction was applied.", - "The curvature plot has sharper peaks around the grip-side parameter interval, with saved peak55.49/m. Residual distributions broaden or shift relative to the baseline, consistent with the larger aggregate3D residual; camera-dependent depth spread remains. The single-round line plot appears blank without a point marker, while its numerical record is saved.", - "Color-filled vertices mainly occupy the bottom-facing band and grip-hidden region. All nine orbit samples show a closed tube with consistent cross-section sampling and no visible gross crossing, disconnected segment, collapse or seam opening. Small local bends are clearer, but the visualization still depicts a smooth tube rather than separate links." - ], - "comparison_observations": [ - "With curvature weight held at5e-9 and reprojection weight4\u21928, mean-view image residual improves3.539597\u21923.397059 mm, while mean3D point-to-centerline residual worsens7.492554\u21928.042299 mm. Peak curvature increases32.094\u219255.487/m, and length increases585.575\u2192586.326 mm. The grip-side turn becomes more angular in the inspected projections; this is a visible recipe tradeoff, not uniform improvement or evidence that inferred hidden geometry is correct.", - "The lower-curvature alternative has only tiny aggregate movement from the same baseline (3D7.476475 mm, reprojection3.538436 mm, peak34.651/m). Stronger reprojection changes this case more visibly and favors image-plane fit at the expense of depth fit and greater soft-length excess. Both retain the same absolute gradient stop and are not ranked by total objective." - ], - "blocking_findings": [], - "limitations": [ - "The 4.75 mm radius continuous circular tube does not model individual links, gaps, rollers, plates or articulation; hidden geometry is inferred.", - "Length 586.326480 mm is 1.326501 mm outside the soft interval. The 10/m threshold and 80/m smooth saturation are penalty parameters, not hard curvature bounds.", - "Tube z bounds are -1.392102 to 10.065151 mm relative to nominal table z=0. Depth/table offsets and contact uncertainty remain unchanged.", - "A lower common residual does not establish ground-truth shape accuracy. Changed objective totals are not ranked; fixed absolute gradient tolerance can affect effective precision when weights change.", - "This is a hand_A-only sequence. The preserved temporal reference review reports camera 12540311 zero admitted object support at native-relative frames 172\u2013248 inclusive, 11 nonfinite mask-bin coverage entries, and large derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach \u2212348 mm at frame 167 and +98 mm at 166. These compare common valid support, not ground-truth errors. The initial prior does not repair later measurements or establish physical attachment.", - "Inspection covers 21 saved panels and nine orbit frames, not every video frame. No mechanics, appearance training or physical fit is assessed or accepted." - ], - "approval_effect": "No approval is recorded; execution authorization is not acceptance." -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/baseline_comparison.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/baseline_comparison.json deleted file mode 100644 index 22852a873735ec60330e9cc5d613188d33f5a050..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/baseline_comparison.json +++ /dev/null @@ -1,47 +0,0 @@ -{ - "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", - "control_count": 18, - "curvature_weight": 5e-09, - "reprojection_weight": 4.0, - "mean_point_to_centerline_mm": 7.49255351546465, - "mean_of_camera_mean_reprojection_mm": 3.5395966789004634, - "length_mm": 585.574746131897, - "length_outside_soft_bounds_mm": 0.5747675895690918, - "maximum_curvature_per_m": 32.09360885620117, - "median_curvature_per_m": 11.833191394805908, - "common_3d_loss": 2.43807789956918e-05, - "unweighted_reprojection_loss": 8.112297109619249e-06, - "rounds": 1, - "stop": "gradient_tolerance", - "gradient_norm": 9.133969433605671e-05, - "wall_time_s": 20.815335273742676 - }, - "candidate": { - "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_stronger_reprojection_v2", - "control_count": 18, - "curvature_weight": 5e-09, - "reprojection_weight": 8.0, - "mean_point_to_centerline_mm": 8.042298844085895, - "mean_of_camera_mean_reprojection_mm": 3.397058633070487, - "length_mm": 586.3264799118042, - "length_outside_soft_bounds_mm": 1.3265013694763184, - "maximum_curvature_per_m": 55.48723220825195, - "median_curvature_per_m": 12.995746612548828, - "common_3d_loss": 2.6920975869870745e-05, - "unweighted_reprojection_loss": 7.439352884830441e-06, - "rounds": 1, - "stop": "gradient_tolerance", - "gradient_norm": 9.289216541219503e-05, - "wall_time_s": 20.629458904266357 - }, - "same_observed_inputs": true, - "only_scientific_setting_change": { - "control_count": 18, - "lambda_curvature_cost": 5e-09, - "reprojection_weight": 8.0 - }, - "all_other_baseline_settings_match": true, - "total_objectives_comparable": false, - "interpretation": "Common raw residuals and unweighted reprojection losses are compared. The coefficient changes the objective; absolute gradient stopping also changes effective precision. No optimum or ground-truth accuracy claim." -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/numeric_prior_review.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/numeric_prior_review.json deleted file mode 100644 index d9d9cd409778530b44b3473afefcc55dfd1fbfe1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_chain_stronger_reprojection_v2/numeric_prior_review.json +++ /dev/null @@ -1,824 +0,0 @@ -{ - "scope": "Saved 233045 stronger_reprojection prior review only; no fitting, sampling or scientific correction executed by this reviewer.", - "job": { - "case_id": "233045", - "session_id": "session_20260921_233045_819927", - "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", - 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-The requested initial prior is complete and its saved products are internally consistent. Inspection of **21 panels and nine orbit frames** found no material tube-construction or packaging issue. **Owner prior acceptance remains pending.** The owner's choice of settings does not accept this result or authorize subsequent mechanics, appearance training or physical fitting. - -Goal: review the completed prior and compare its common diagnostics with the preserved baseline. Done when: saved numerical checks, the 21 panels and nine orbit frames are inspected and findings saved. Non-goals: new science, corrective fitting, observation changes or approval. - -The saved spline has **18 control points** and curvature weight **5e-9**. All other scientific settings match the original nine-control prior; the additional baseline-run path supports comparison diagnostics. All six preparation stages and the single packaging/check invocation returned zero. The baseline fit and manifest and the new saved fit remained unchanged during review. [Numerical checks](numeric_prior_review.json) · [Exact visual findings](agent_visual_review.json) · [Camera links and saved metrics](PRIOR_REVIEW_c6a_v1.md). - -| Common diagnostic | Baseline: 9 controls, 5e-8 | Requested: 18 controls, 5e-9 | -|---|---:|---:| -| Mean point-to-centerline distance (mm) | 7.494506 | 7.492554 | -| Mean of camera mean reprojection distances (mm) | 3.608240 | 3.539597 | -| Length (mm) | 585.498 | 585.575 | -| Distance above soft upper length bound (mm) | 0.498 | 0.575 | -| Maximum curvature (/m) | 50.630 | 32.094 | -| Median curvature (/m) | 9.296 | 11.833 | -| Fraction above soft 10/m threshold | 47.2% | 55.2% | - -Mean point-to-centerline distance is nearly unchanged. The mean reprojection distance and maximum curvature decrease; median curvature and the fraction above the soft threshold increase. These diagnostics are not ground-truth reconstruction errors. **Total fit objectives are not directly comparable after changing the curvature weight.** [Exact comparison values](baseline_comparison.json). - -The new fit stopped after **one outer round** at gradient tolerance, with norm **9.13397e-05** and a solver limit of 25 iterations per round. The saved last round equals the reported final result. Length is **0.575 mm above** the unchanged soft upper bound near 585 mm. The 10/m curvature threshold and 80/m smooth saturation scale define a soft penalty rather than hard feasibility bounds. The single-round line plot appears blank because it has one point and no marker; [the round record](../prior_chain_m18_lowcurvature_v1/spline/rounds.jsonl) preserves the numeric result. No correction was made during review. - -The four input/mask panels show the intended broad tabletop chain loop and single hand contact. Centerline overlays and unmasked tube silhouettes follow the exposed contour, while smoothing individual link details and sharp local bends. Small edge offsets remain, most clearly beside the grip-side contour in camera 17736741. The lower arc drawn across the hand in camera 12540311 is hidden completion; that overlay does not establish occluded shape or physical hand penetration. A **4.75 mm radius circular tube** approximates the outline and contains no separate links, rollers, plates or articulation. - -The scale, hybrid, 3D and profile panels show a nearly planar loop, with observed points above and laterally around the tube. Vertical axes in the 3D/profile displays are expanded. Tube z spans **-0.281 to 12.352 mm** relative to nominal table z=0; shallow below-table geometry remains. Chain-interior-minus-local-table depth medians remain **12.148 / 8.220 / 11.400 / 9.699 mm** in camera order 12540311 / 12933256 / 17736741 / 23007103. No table snapping or depth correction was applied. - -The tube has **144 rings, 1,728 vertices and 3,456 triangles**, with unchanged step_t 0.125 and 30-degree circumferential sampling. Saved checks report one outward, consistently wound, watertight component, no degenerate triangles and **zero confirmed surface intersections**. Recomputed maximum radius error is **7.14e-09 m**. Minimum nonadjacent ring-center distance is **6.595 mm**; it remains a diagnostic and is not substituted for the approved surface-intersection rule. - -All seven checked saved NPZ families are finite. The **25,253 point-to-centerline residuals** have per-view medians and p90s matching their saved report. They are centerline distances, not tube-surface errors. The visible centerline-in-mask fractions in the metrics packet are not silhouette IoU or ground-truth accuracy. - -Orbit frames **0, 4, 9, 13, 18, 22, 26, 31 and 35 of 36** at 12 fps were inspected individually. They show a continuous loop with consistent cross-section sampling and no observed gross crossing, detached segment, collapse or seam opening. This is a point/ring visualization, not individually modeled chain links. [Rotation](../prior_chain_m18_lowcurvature_v1/review/tube/orbit.mp4) · [Exact sampled frames](orbit_frames.json). The 21 panels comprise four initial inputs, four masked centerlines, four unmasked tube silhouettes and nine diagnostic panels; this review does not claim continuous video playback. - -Colors are observed for **1,201 vertices** and median-filled for **527**, mainly on the bottom-facing surface and hidden grip interval. Saved GLB roundtrip checks report exact float32 positions and colors, and the recorded colored-GLB hashes match the current files. Hybrid initialization contains **25,253 observed + 103,680 mesh-derived = 128,933 seeds**. At unchanged step_t, increasing from nine to 18 controls doubles rings, triangles and mesh-derived seeds from 51,840; the observed population is unchanged. These counts describe appearance initialization, not mechanical particles or mass. - -All **27 true observation/filter/step inputs** remain byte-equal to the baseline. The derived Gaussian shape_prior.glb was intentionally excluded from the copy; the new colors stage generated it, and its final bytes match the new tube GLB. The original prior and review packet were preserved. - -The [temporal reference review](../review_v1/REVIEW.md) remains applicable. Camera **12540311 has zero admitted object support at native-relative frames 172–248 inclusive**; support falls in other views around the turn near 170, and derived sample 175 has large gaps. Camera **12933256** has paired native-minus-WAFT depth tails of **−348 mm at 167** and **+98 mm at 166**, pooling common valid hand/object support. These are measurement diagnostics, not ground-truth errors. The new initial prior does not repair those later observations or clear the full sequence for physical fitting. - -Only this new review packet and scoped scratch were written by the reviewer. Owner prior acceptance remains pending. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md deleted file mode 100644 index c5426fdcde8524e850db4c5359bf86cd0ad5bef9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md +++ /dev/null @@ -1,41 +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_233045_819927 — prior approval pending - -Saved C2 **bike_chain** prior evidence (radius 4.75 mm). Agent visual review is complete; owner prior approval remains pending. See [agent findings and baseline comparison](AGENT_FINDINGS.md). This packet reports saved values and existing media, with the agent's assessment linked above. 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 / 256 / 257 | [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 | 0 / 255 / 256 | [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 / 256 / 257 | [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 / 255 / 256 | [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 **585.575 mm**, maximum curvature **32.094/m**, final gradient norm **9.13397e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 0.575 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 | 8.463 / 12.569 | 99.67% | [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 | 5.789 / 8.465 | 99.42% | [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 | 7.865 / 10.451 | 98.80% | [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 | 8.148 / 10.635 | 99.71% | [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 **25253 of 26278** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. - -Appearance initialization contains **25253 observed + 103680 mesh-derived = 128933 seeds**. Vertex colors are observed for 1201 mesh vertices and median-filled for 527. 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 agent inspected the 21 panels and nine orbit frames recorded in [the exact visual review](agent_visual_review.json). The [agent findings](AGENT_FINDINGS.md) retain the baseline comparison and limitations. 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_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_visual_review.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_visual_review.json deleted file mode 100644 index 9ee4b1da78aa8a4579ce3e68a1f57ab3dfc04111..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_m18_lowcurvature_v1/agent_visual_review.json +++ /dev/null @@ -1,209 +0,0 @@ -{ - "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546", - "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", - "reviewed_at_utc": "2026-10-28T22:19:35.114371+00:00", - "review_kind": "bounded saved-output review of the owner-requested 18-control initial chain prior", - "readiness": "ready_for_owner_review_with_soft_length_depth_and_temporal_limits_retained", - "blocking_findings_for_initial_prior_review": [], - "owner_prior_acceptance": "pending; the settings decision is not acceptance", - "scope": { - "goal": "Package and inspect the completed requested prior, verify unchanged inputs and settings, and compare common baseline diagnostics.", - "done_when": "Six stages and one packaging/check invocation succeed; 21 panels, nine orbit samples, saved numeric arrays, 4.75 mm radius and baseline comparison are reviewed; findings are saved.", - "non_goals": [ - "No science launch, refit, correction, resampling or new settings", - "No original prior/review, source, global or approval writes", - "No mechanics, appearance training or physical fitting" - ], - "validation": "One detached packaging/check invocation under the absolute shared resource lock, seven finite saved NPZ families, 27 byte-equal inputs, exact settings comparison, final-round and residual quantile checks, radius and mesh/color/hybrid correspondence, 30 actual image reads, and bounded final link/identity review." - }, - "owner_settings_decision": { - "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" - }, - "packaging_and_check_result": { - "returncode": 0, - "elapsed_s": 0.4272153320052894, - "completed_utc": "2026-10-28T22:12:07.965900+00:00", - "argv": [ - "flock", - "-x", - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/outputs/c6a_recovery/resource_lane.lock", - "/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/outputs/c6a_recovery/agent_drafts/prior_review_m18_233045_scratch/package_and_check.py" - ] - }, - "stage_results": { - "fit": { - "returncode": 0, - "elapsed_s": 312.6585516320047 - }, - "tube": { - "returncode": 0, - "elapsed_s": 124.47691196101368 - }, - "colors": { - "returncode": 0, - "elapsed_s": 9.80495451799652 - }, - "hybrid": { - "returncode": 0, - "elapsed_s": 32.505380379006965 - }, - "review": { - "returncode": 0, - "elapsed_s": 17.825640156006557 - }, - "manifest": { - "returncode": 0, - "elapsed_s": 13.853932117010118 - } - }, - "numerical_review_path": "numeric_prior_review.json", - "baseline_comparison_path": "baseline_comparison.json", - "numerical_review_passed": true, - "unchanged_input_count": 27, - "saved_colored_mesh_hashes_match": { - "tube/shape_prior.glb": true, - "gaussian_data/session_20260921_233045_819927/shape_prior.glb": true - }, - "saved_glb_roundtrip_checks": { - "float32_positions_exact": true, - "vertex_colors_exact": true, - "uv_count": 0, - "vertex_reordered_on_open3d_load": true - }, - "geometry_checks": { - "euler_characteristic": 0, - "watertight": true, - "components": 1, - "winding_consistent": true, - "signed_volume_m3": 3.9607764826905275e-05, - "minimum_outward_normal_dot_m": 0.004578032940923137, - "degenerate_triangles": 0, - "self_intersecting": false, - "maximum_radius_error_m": 7.1372326486407456e-09, - "maximum_diameter_error_m": 1.4274465297281491e-08, - "bishop_seam_error": 7.450580596923828e-09, - "minimum_nonadjacent_centerline_distance_m": 0.006594957437623624, - "triangle_area_m2": { - "min": 3.5315810432699745e-06, - "median": 4.819462196334863e-06, - "mean": 4.9970520983531565e-06, - "max": 7.207004641077688e-06, - "density_max_over_min": 2.0407303563971313 - }, - "bounds_m": [ - [ - -0.09603578597307205, - -0.21348179876804352, - -0.0002811620943248272 - ], - [ - 0.07304373383522034, - 0.006294803228229284, - 0.0123516246676445 - ] - ], - "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 - }, - "observed_count_unchanged": true, - "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" - ], - "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" - ], - "per_camera_observations": { - "12540311": "Initial inputs show the broad angular chain loop and a substantial foreground hand/wrist occlusion. The centerline and red tube follow the exposed upper and side arcs, with small local edge offsets. The closed lower arc is projected across the hand and is inferred, not observed hidden geometry or evidence of hand penetration.", - "12933256": "The single hand contact lies at the upper-right narrow end. Centerline and tube follow the exposed long and rounded arcs; small inner/outer edge differences and smoothing of individual link contours remain.", - "17736741": "The broad loop and lower-left contact are coherent. The centerline and tube follow the upper/right arcs and slanted lower segment; small offsets remain beside the hand-side left contour. Sharp local link corners are smoothed.", - "23007103": "The upper-left hand contact and broad lower arc are coherent. Centerline and tube track the visible teardrop-like contour, including its slight side bend, with local edge mismatches; the grip segment remains inferred." - }, - "diagnostic_observations": [ - "The scale and hybrid panels show observed points above and laterally around the fitted tube. No distant initial cloud component or gross tube collapse is visible. The 3D/profile views expand the vertical axis and should not be read with equal horizontal and vertical scale.", - "The curvature plot has multiple finite peaks below its displayed 80/m smooth saturation scale; many locations exceed the soft 10/m threshold. Those are penalty scales rather than hard feasibility bounds.", - "The single-round line plots show empty axes without a marker. The saved one-round numerical record is present, finite and equal to the reported final fit; the original plot is preserved.", - "The color/fill panel marks 1201 observed and 527 median-filled vertices, especially the bottom-facing surface and hidden grip interval. Hybrid seeds comprise 25253 observed and 103680 mesh-derived points.", - "All nine orbit samples show one nearly planar, continuous loop with consistent cross-section sampling and no observed gross crossing, detached segment, collapse or seam opening. All sampled objects remain within image bounds. Rings are mesh samples, not individually modeled chain links; topology is established by saved mesh checks." - ], - "visual_coverage": { - "panels": 21, - "orbit_samples": 9, - "video_frames": 36, - "fps": 12, - "orbit_indices": [ - 0, - 4, - 9, - 13, - 18, - 22, - 26, - 31, - 35 - ], - "method": "All 21 panels and nine named extracted orbit frames were viewed individually; no continuous-playback or full-video-decode claim." - }, - "limitations": [ - "The circular 4.75 mm radius tube is a continuous outline approximation. It does not model separate links, rollers, plates, gaps or chain articulation. The hand-hidden grip arc is inferred.", - "Length 585.574746 mm is 0.574768 mm outside the unchanged soft upper bound. The 10/m curvature threshold and 80/m saturation scale are soft penalty settings, not hard feasibility bounds.", - "Mean point-to-centerline distance is nearly unchanged from baseline. The mean reprojection distance and maximum curvature decrease, while median curvature and the fraction above the soft threshold increase. Total objective values are not compared as equivalent.", - "Tube z ranges from -0.281162 to 12.351625 mm relative to nominal table z=0. View-dependent depth/table offsets and observed depth spread remain; no correction or contact validation was applied.", - "The single-round line plot appears blank because one saved point is plotted without a marker. The saved round record is present and equals the final result. The original media are preserved.", - "Later camera 12540311 zero admitted support at native-relative frames 172\u2013248, sparse support around the turn and gaps in derived sample 175, and camera 12933256 paired-depth tails remain separate unresolved measurement limitations. This initial prior does not clear the temporal sequence for physical fitting.", - "The 21-panel and nine-frame inspection is sampled visual evidence. It does not certify every video frame or establish hidden geometry, mechanical validity, trained appearance or physical parameters." - ], - "later_reference_limitations": [ - "During the change from a raised broad loop to a narrow hanging loop around native-relative 170, object support falls sharply in all views.", - "Camera 12540311 has zero admitted object points at every native-relative frame 172 through 248 inclusive; later support only partly returns. Its original mask-bin coverage contains 11 nonfinite entries.", - "Camera 17736741 also becomes strongly sparse near the turn; 12933256 and 23007103 retain more complementary hanging-loop support. Missing arc support remains visible in the derived sample 175 and later folded views.", - "The 12933256 per-frame native-minus-WAFT paired-depth p5 reaches -348 mm at native-relative 167 and p95 reaches +98 mm at 166. These comparisons pool common valid hand/object support and are not ground-truth errors.", - "Early derived samples include small scattered nearby points; late derived samples show incomplete arcs. The finite sampled review is not evidence that every observation is correct throughout the sequence." - ], - "reporting_corrections": [ - "Blank single-round plot is disclosed; numerical evidence is preserved. 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"frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json" - } -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md deleted file mode 100644 index cceedc126c799fb7ea5f12836044f4f0f3a13e9c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md +++ /dev/null @@ -1,65 +0,0 @@ -# session_20260921_233045_819927 — 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 / 256 / 257 | [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 | 0 / 255 / 256 | [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 / 256 / 257 | [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 / 255 / 256 | [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 **585.498 mm**, maximum curvature **50.630/m**, final gradient norm **9.43647e-05**. Soft length bounds are 583.000–585.000 mm; distance outside those bounds is 0.498 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 | 8.469 / 12.440 | 99.33% | [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 | 5.812 / 8.773 | 97.34% | [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 | 7.924 / 10.360 | 97.58% | [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 | 8.022 / 10.763 | 99.41% | [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 **25253 of 26278** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. - -Appearance initialization contains **25253 observed + 51840 mesh-derived = 77093 seeds**. Vertex colors are observed for 598 mesh vertices and median-filled for 266. 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 all 21 initial-prior panels and nine orbit samples 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 current nine-control initial prior, with baseline shape and depth limitations.** No blocking tube-construction defect was found. This is an initial geometry review; later observations, trained appearance and physical fitting remain separate. - -Goal: review the saved current C2 chain prior. Done when: all 21 panels, nine orbit samples and saved numerical evidence are inspected and findings are recorded. Non-goals: a new fit, different control count or curvature weight, observation repair, mechanics, trained appearance or owner acceptance. - -All four initial input panels show a broad tabletop bike-chain loop gripped by hand_A. Accepted masks follow the visible chain and the hand union covers the grip. The centerline and tube overlays follow the broad contour, while smoothing sharper bends and finer chain detail. Small offsets remain along exposed edges, particularly near the grip-side contour in camera 17736741. The unmasked tube projects across the hand in camera 12540311 because that part of the closed loop is hidden; this projection is not direct evidence of the occluded shape or physical hand penetration. The 4.75 mm radius circular tube is an outline approximation, without separate plates, rollers, link gaps or articulation. - -Actual visual inspection covered **21 panels**: four input panels, four masked centerlines, eight masked/unmasked tube silhouettes, scale/depth cloud, depth-offset diagnostic, residual histograms, colors/fill, and hybrid seeds. The nine orbit frames **0, 4, 8, 13, 17, 21, 26, 30 and 35** of 36 at 12 fps show one approximately planar loop with consistent tube cross-sections, without a gross crossing, detached segment or local collapse. The visible cross-section rings are tube samples, not individually modeled chain links. This is sampled inspection, not continuous playback. - -The saved fit retains **nine controls and curvature weight 5e-8**. It stops after one outer round at the gradient tolerance, with norm **9.436e-5**; the saved last round equals the reported final result. Length is **585.498 mm**, **0.498 mm above the soft upper bound** of approximately 585 mm (soft interval 583–585 mm). The saved active-bound flag is not a hard-feasibility certificate. Maximum curvature is **50.630/m**, with **47.2%** above the soft 10/m threshold. No penalty, threshold, stopping criterion or fit was changed for this review. - -The **864-vertex / 1728-triangle** tube is reported as one connected, outward, watertight genus-one surface with positive signed volume, no degenerate triangles and no proposed or confirmed surface intersections. The chain uses the owner-approved **surface-intersection overlap rule**. Minimum nonadjacent ring-center separation is **11.468 mm**, a descriptive value rather than a separate diameter gate. Recomputed radius error and bounds match the saved geometry checks. - -All **25,253 point-to-centerline residuals**, controls and numerical geometry arrays are finite. Per-view counts, medians and p90 values match the saved reports. The centerline histogram label is appropriate for this tube fit. These distances are not tube-surface errors; centerline-in-mask percentages are not silhouette IoU, and neither diagnostic measures ground-truth accuracy. The finite tube radius and actual link width matter when interpreting distance to a one-dimensional centerline. - -The surface z range is **−0.466 to +11.130 mm** relative to nominal table z=0. The shallow below-table portion is retained and is not described as validated contact. Chain-interior-minus-local-table depth medians are **12.148 / 8.220 / 11.400 / 9.699 mm**, in camera order 12540311 / 12933256 / 17736741 / 23007103. The scale and hybrid panels show observed points spread above and laterally around the fitted tube. No table snapping, normalization or depth correction was applied. - -Vertex colors are observed at **598 vertices** and median-filled at **266**, including much of the low-facing surface and hidden grip region. Hybrid initialization contains **25,253 observed + 51,840 mesh-derived = 77,093 seeds**. These are geometry and appearance initialization populations, not mechanical particles, a physical mass total or trained appearance. - -The saved initial reference uses local row **0 in every camera**, with converted frames **256 / 255 / 256 / 255** and recorded clock offsets **0.069640 / 0 / 4.673600 / 10.364733 ms**. These are the saved nearest-camera observations of the first 30 Hz grid sample; equal local row numbers do not mean equal capture timestamps. - -The [completed temporal reference review](<../review_v1/REVIEW.md>) remains applicable: camera 12540311 has zero admitted object support at native-relative **172–248**, other views also lose support near the turn around 170, and the derived loop has large gaps at sample 175 with partial later recovery. Camera 12933256 has paired native-minus-WAFT depth tails of **−348 mm at 167** and **+98 mm at 166**; those pool common valid hand/object support and are not ground-truth errors. This initial fit does not resolve those later observations. Its readiness is separate from any full-sequence physical-fitting decision. - -All eight prior commands, the single packaging invocation and the bounded saved-array checker returned zero. Case/frame mappings, current baseline settings, saved colored-mesh identities and package links were checked. Only this new review packet and task scratch were written; source, observations, scientific settings and approval records were unchanged. No 18-control comparison was adopted for this case. diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/agent_findings.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/agent_findings.json deleted file mode 100644 index f62f8af2c9879a856ce1deb663a7dd42b0aa00a3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/prior_review_v1/agent_findings.json +++ /dev/null @@ -1,868 +0,0 @@ -{ - "case": "session_20260921_233045_819927/window_anchor0256-0546", - "reviewed_utc": "2026-10-28T21:58:01.071052+00:00", - "scope": { - "goal": "Review the current C2 nine-control baseline initial chain prior", - "done_when": "Package once, inspect 21 actual prior panels and nine orbit frames, verify saved science and retain limitations", - "non_goals": [ - "No refit, science/source/global changes, or 18-control adoption", - "No mechanics, trained appearance, physical fitting or owner acceptance" - ], - "validation": "Saved stage results, numeric arrays/metrics, actual image inspection, source/input identity and packet links" - }, - "readiness": "ready_for_owner_initial_prior_review_with_disclosed_baseline_shape_and_depth_limits", - "blocking_findings_for_initial_prior": [], - "owner_prior_approval": "pending; this review grants no acceptance", - "full_sequence_physical_fitting_clearance": false, - "no_scientific_changes": true, - "inspected_image_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" - ], - "orbit_visual_inspection": { - "source": "/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/review/tube/orbit.mp4", - "reported_frames": 36, - "fps": 12.0, - "selected_frame_indices": [ - 0, - 4, - 8, - 13, - 17, - 21, - 26, - 30, - 35 - ], - "method": "Nine direct selected-frame reads; no full-decode or continuous playback claim." - }, - "saved_metrics": { - "fit": { - "stage1_rounds": 1, - "stage1_stop": "gradient_tolerance", - "stage1_final": null, - "twist": null, - "final": { - "loss": 6.0543119616340846e-05, - "components": { - "distance": 2.442325057927519e-05, - "curvature": 2.448575287417043e-06, - "arclength": 2.4800081988018974e-08, - "mask_reprojection_2d": 3.364649455761537e-05 - }, - "grad_norm": 9.436469554202631e-05, - "arclength_m": 0.5854979753494263, - "arclength_bound_active_within_1mm": true, - "max_curvature_per_m": 50.630287170410156, - "curvature_p50_p90_per_m": [ - 9.295501708984375, - 29.750554847717282 - ], - "curvature_above_max_fraction": 0.472, - "mean_distance_m": 0.0074945058932989255, - "max_distance_m": 0.01622411608695984, - "beyond_2delta_fraction": 0.16702965984239496, - "at_cap_fraction": 0.0, - "per_view": [ - { - "view": 0, - "count": 6305, - "median_m": 0.00846913643181324, - "p90_m": 0.012440173327922821, - "max_m": 0.01622411608695984, - "beyond_2delta_fraction": 0.3422680412371134, - "at_cap_fraction": 0.0 - }, - { - "view": 1, - "count": 6623, - "median_m": 0.0058118803426623344, - "p90_m": 0.008773197419941425, - "max_m": 0.014027878642082214, - "beyond_2delta_fraction": 0.0327646081836026, - "at_cap_fraction": 0.0 - }, - { - "view": 2, - "count": 7409, - "median_m": 0.007924235425889492, - "p90_m": 0.010359882190823554, - "max_m": 0.014008574187755585, - "beyond_2delta_fraction": 0.13146173572681874, - "at_cap_fraction": 0.0 - }, - { - "view": 3, - "count": 4916, - "median_m": 0.008022346999496222, - "p90_m": 0.010762580670416355, - "max_m": 0.016054321080446243, - "beyond_2delta_fraction": 0.17676973148901545, - "at_cap_fraction": 0.0 - } - ], - "round": 1, - "relative_loss_change": 0.9863149332989704 - }, - "arclength_soft_bounds_m": [ - 0.5830000042915344, - 0.5849999785423279 - ], - "arclength_outside_soft_bounds_m": 0.0004979968070983887 - }, - "object": { - "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 - }, - "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": 26278, - "kept_count": 25253, - "removed_count": 1025, - "per_view": [ - { - "view": 0, - "input": 6485, - "kept": 6305, - "removed": 180, - "live_20_0.05_kept": 4606, - "no_filter_kept": 6485 - }, - { - "view": 1, - "input": 7095, - "kept": 6623, - "removed": 472, - "live_20_0.05_kept": 3663, - "no_filter_kept": 7095 - }, - { - "view": 2, - "input": 7626, - "kept": 7409, - "removed": 217, - "live_20_0.05_kept": 5361, - "no_filter_kept": 7626 - }, - { - "view": 3, - "input": 5072, - "kept": 4916, - "removed": 156, - "live_20_0.05_kept": 2537, - "no_filter_kept": 5072 - } - ] - }, - "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": null - }, - "solver": { - "solver_type": "lbfgs", - "linesearch_type": "zoom", - "max_linesearch_steps": 10, - "grad_norm_tolerance": 0.0001, - "max_iter": 25 - }, - "ribbon_twist_refinement": null - }, - "views": [ - { - "serial": "12540311", - "view_index": 0, - "selected_window_local_index": 0, - "converted_frame": 256, - "native_container_frame": 257, - "official_frame": 256, - "depth_frame": 256, - "capture_timestamp_ns": 1790047879385946319, - "device_timestamp_ns": 1790047879334474117, - "initial_grid_offset_ms": 0.06964, - "native_count": 291, - "initial_observed_depth_points": 6305, - "median_3d_residual_m": 0.00846913643181324, - "p90_3d_residual_m": 0.012440173327922821, - "visible_centerline_inside_mask_fraction": 0.9932885906040269, - "track_diagnostics": { - "T": 291, - 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Object masks follow the visible chain; the hand union covers the hidden grip.", - "Centerlines and tube overlays follow the broad loop; sharper local bends are smoothed. Small exposed-edge offsets remain, especially near the grip-side contour in camera 17736741. The hidden closure projected across the hand in camera 12540311 is inferred geometry rather than direct observation.", - "All 21 panels and nine orbit samples were actually inspected. Orbit frames 0, 4, 8, 13, 17, 21, 26, 30 and 35 show one approximately planar loop with consistent circular sections, without a gross crossing, detached section or local collapse. Cross-section rings are geometry samples rather than individual chain links.", - "The scale and hybrid panels show depth observations above and laterally around the fitted tube; nominal surface z is slightly negative. No table correction was applied.", - "Colors are observed at 598 vertices and filled at 266, including the underside and hidden grip region. Hybrid initialization contains 25,253 observed plus 51,840 mesh-derived seeds, totaling 77,093; these are not mechanical particles or trained appearance." - ], - "material_limitations": [ - "Nine controls smooth local sharp bends and finer chain detail. The continuous circular tube does not model separate link plates, rollers, gaps or articulation.", - "Analytic spline length is 585.497975 mm, exceeding the soft upper bound by 0.497997 mm. Saved gradient stopping and mesh consistency do not imply hard-length feasibility or exact reconstruction.", - "Tube z range is -0.466343 to 11.130327 mm relative to nominal table z=0; the shallow below-table portion is preserved. No table snap or depth correction was applied.", - "Camera-dependent point-to-centerline residuals and depth-height offsets remain; none is ground-truth surface error. In-mask centerline coverage is not silhouette IoU.", - "The grip hides part of the closed loop, especially camera125; its unmasked projection across the hand is inferred geometry, not direct observation.", - "The separate temporal reference review reports camera 12540311 zero admitted object points at native-relative frames 172\u2013248, support reduction across views near 170, and camera 12933256 paired-depth tails. This initial-prior review does not resolve those later limits." - ], - "reference_review": { - "path": "../review_v1/REVIEW.md", - "status": "review_complete_ready_for_initial_prior_with_later_sequence_limitations", - "ready_for_initial_prior": true, - "full_sequence_physical_fitting_clearance": false, - "material_limitations": [ - "During the change from a raised broad loop to a narrow hanging loop around native-relative 170, object support falls sharply in all views.", - "Camera 12540311 has zero admitted object points at every native-relative frame 172 through 248 inclusive; later support only partly returns. Its original mask-bin coverage contains 11 nonfinite entries.", - "Camera 17736741 also becomes strongly sparse near the turn; 12933256 and 23007103 retain more complementary hanging-loop support. Missing arc support remains visible in the derived sample 175 and later folded views.", - "The 12933256 per-frame native-minus-WAFT paired-depth p5 reaches -348 mm at native-relative 167 and p95 reaches +98 mm at 166. These comparisons pool common valid hand/object support and are not ground-truth errors.", - "Early derived samples include small scattered nearby points; late derived samples show incomplete arcs. The finite sampled review is not evidence that every observation is correct throughout the sequence." - ], - "inspection_note": "Completed case-specific reference review was read; its temporal visual coverage was not repeated as part of this prior review." - }, - "prior_stage_results": { - "batch_prior_colors_result.json": { - "returncode": 0, - "wall_seconds": 2.6297481060028076, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" - }, - "batch_prior_diagnose_depth_result.json": { - "returncode": 0, - "wall_seconds": 1.5481266975402832, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" - }, - "batch_prior_fit_result.json": { - "returncode": 0, - "wall_seconds": 22.022456884384155, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" - }, - "batch_prior_hybrid_result.json": { - "returncode": 0, - "wall_seconds": 2.2873377799987793, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" - }, - "batch_prior_inputs_result.json": { - "returncode": 0, - "wall_seconds": 26.388787031173706, - 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"/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3", - "scripts/phystwin_real_rgbd.py", - "select-depth", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927", - "--frames", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/per_camera_inputs.json", - "--depth-source", - "waft_stereo_dav2l5", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft" -] diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/select_waft_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/select_waft_result.json deleted file mode 100644 index 9a23edf9b5287d947bfa4b66fcda3b30eaa7ecd0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/select_waft_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 1.878810167312622 -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/selected_mask_admission.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/selected_mask_admission.json deleted file mode 100644 index 941765b919c1af92b36af2492930915b3edc4a77..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/owner_mask_acceptance_c6a_selected_20261028.json", - "source_selection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/mask_review_selection.json", - "cameras": [ - { - "serial": "12540311", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12540311/inspection/frames.npz", - "T": 291, - "roles": { - "object": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12540311/review_signoff.json", - "covered_frames": 291, - "visible_frames": 280, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "hand_A": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12540311/review_signoff.json", - "covered_frames": 291, - "visible_frames": 291, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "hand_B": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12540311/review_signoff.json", - "covered_frames": 291, - "visible_frames": 0, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "occluder": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12540311/review_signoff_occluder.json", - "covered_frames": 291, - "visible_frames": 291, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - } - } - }, - { - "serial": "12933256", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12933256/inspection/frames.npz", - "T": 291, - "roles": { - "object": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12933256/review_signoff.json", - "covered_frames": 291, - "visible_frames": 291, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "hand_A": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12933256/review_signoff.json", - "covered_frames": 291, - "visible_frames": 291, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "hand_B": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12933256/review_signoff.json", - "covered_frames": 291, - "visible_frames": 0, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "occluder": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12933256/review_signoff_occluder.json", - "covered_frames": 291, - "visible_frames": 291, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - } - } - }, - { - "serial": "17736741", - "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", - "T": 292, - "roles": { - "object": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/17736741/review_signoff.json", - "covered_frames": 292, - "visible_frames": 292, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "hand_A": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/17736741/review_signoff.json", - "covered_frames": 292, - "visible_frames": 292, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "hand_B": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/17736741/review_signoff.json", - "covered_frames": 292, - "visible_frames": 0, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "occluder": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/17736741/review_signoff_occluder.json", - "covered_frames": 292, - "visible_frames": 292, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - } - } - }, - { - "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", - "T": 293, - "roles": { - "object": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/23007103/review_signoff.json", - "covered_frames": 293, - "visible_frames": 293, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "hand_A": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/23007103/review_signoff.json", - "covered_frames": 293, - "visible_frames": 293, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "hand_B": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/23007103/review_signoff.json", - "covered_frames": 293, - "visible_frames": 0, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - }, - "occluder": { - "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/23007103/review_signoff_occluder.json", - "covered_frames": 293, - "visible_frames": 293, - "reviewed_pixel_counts_equal": true, - "source_segments": 1 - } - } - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/APPEARANCE_REVIEW_c6a_v1.md b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/APPEARANCE_REVIEW_c6a_v1.md deleted file mode 100644 index 06a66bf9bdbc7960566dc502b78525929076841e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/APPEARANCE_REVIEW_c6a_v1.md +++ /dev/null @@ -1,54 +0,0 @@ -# 233045: static appearance from the stronger-reprojection prior - -**Reference training and agent review are complete; owner appearance acceptance is recorded below.** The run matches the exact accepted stronger-reprojection prior: 18 controls, curvature weight 5e-9, reprojection weight 8 and a 4.75 mm radius continuous tube. Prior acceptance is recorded separately; this review grants no physical-fitting authorization. - -Goal: review the saved initial appearance. Done when: accepted-prior identity, three completed stages, numerical payloads and 13 actual images are checked and findings saved. Non-goals: retraining, scientific changes, acceptance or physical fitting. - -[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/AGENT_FINDINGS.md) - -- [Camera 12540311: RGB, alpha and depth](appearance_train_v1/review/iteration_10000/view_0_sheet.png) -- [Camera 12933256: RGB, alpha and depth](appearance_train_v1/review/iteration_10000/view_1_sheet.png) -- [Camera 17736741: RGB, alpha and depth](appearance_train_v1/review/iteration_10000/view_2_sheet.png) -- [Camera 23007103: RGB, alpha and depth](appearance_train_v1/review/iteration_10000/view_3_sheet.png) - -The exposed chain contours and repeated link-like texture are coherent across the four training views. The hand-hidden grip interval remains visibly open in the rendered appearance, with a dark widened or speckled end near the gap. The rotation preserves this local defect; it does not demonstrate a completed closed chain appearance. - -**Camera 12540311:** The visible upper loop and two sides follow the observed chain, including the angular shoulder. At the lower hand-covered interval the rendering ends in two separated tips; the left tip is widened, brown/dark and speckled, with small detached alpha flecks. The broad visible alpha contour otherwise follows the object mask. - -**Camera 12933256:** The exposed lower and left arcs and their link-like pattern match the broad observed contour. The upper-right grip interval remains an open notch between two ends, with a small mottled protrusion at one end. Rendered alpha and depth retain that notch. - -**Camera 17736741:** The visible loop and bent right/lower arc are coherent. At the lower-left hand-covered interval a dark broad tip and a shorter exposed tip remain separated; sparse alpha flecks appear just inside the broad tip. This region is not a visually validated hidden completion. - -**Camera 23007103:** The observed broad triangular/rounded contour and repeated surface detail are reproduced along the exposed chain. The upper-left grip remains a dark gap between ends with a compact protruding patch. There is no obvious global contour collapse in this sheet. - -All eight sampled orbit frames contain the object within image bounds, with no separate remote cloud apparent. The exposed chain keeps its broad contour through the sampled rotation. - -The grip gap remains apparent from several orbit angles, with a widened darker end and locally rough texture. Foreshortening can make the ends appear closer in some views, but the samples do not establish a closed appearance surface. Only frames 0/25/50/75/100/125/150/175 were inspected. - -Both plotted training losses decrease strongly and settle to lower levels, with sharp transients near iterations 3000, 6000 and 9000 that recover promptly. Their timing is consistent with the source's 3000-step opacity reset interval; the curves provide training optimization evidence, not held-out or physical accuracy. - -The open, partly mottled hand-hidden grip interval is a material appearance limitation for the owner's decision. Coherent visible links do not validate the hidden connection, physical link geometry or contact. - -The saved source totals average full-image, masked, occlusion-aware training-view reductions. The large background contribution in the raw RGB residual panel is not the optimization target, and the black orbit background is a diagnostic render. - -Static initial appearance does not resolve later temporal coverage loss, depth tails or repeated-link correspondence, and it supplies no dynamics validation. - -The continuous tube does not model individual chain links or articulation. Its accepted prior reaches **-1.392 mm relative to nominal table z=0**; appearance training does not resolve that registration/contact limitation. This is a **hand_A-only sequence**. Hand-hidden completion remains inferred. The black background is an object-only diagnostic render, and the raw RGB residual against the full scene is not the masked training objective. - -Training used the four initial views, **10,000 loop iterations and 9,999 Gaussian optimizer updates**. Initial hybrid seeds: **128,933 = 25,253 observed + 103,680 mesh-derived**. Final saved Gaussians: **133,944**; strict sigmoid(opacity) >0.1 export: **102,977**. The trained payload has one isotropic scale column and spherical-harmonic degree 3. These are appearance populations, not mechanical particles or mass. - -Mean source total over the same four training views is **0.005327837 → 0.000197644**. These values use the source masked, occlusion-aware full-image losses, with the reference opacity filter for trained review snapshots. They do not establish held-out accuracy, hidden geometry or dynamics. - -The three root stages and saved-output checker returned zero. All numerical arrays in **12 saved view files** at iterations 0/7000/10000 and all properties of **three PLY files** are finite. Initial/7000/final populations match the summary, and strict opacity counts match for both trained snapshots. All **three scalar histories** contain every step 1–10000 with finite values. Flags match the reference hybrid/masked/isotropic recipe, depth/normal/anisotropic/segmentation weights 0.001/0/0/1, and the recorded native-loader/depth-loss runtime overrides. - -The four final sheets, loss plot and orbit frames **0, 25, 50, 75, 100, 125, 150 and 175 of 200** were individually inspected. [Saved summary](appearance_train_v1/review/summary.json) · [findings and inspection record](appearance_train_v1/review/agent_findings.json) · [run flags](appearance_train_v1/run_record.json). - -**Later observation limitations remain unchanged.** Camera 12540311 has zero admitted object support at native-relative frames 172–248 inclusive and 11 undefined object-mask coverage entries remain NaNs; the preserved review shows substantial derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach −348 mm at frame 167 and +98 mm at 166. These are common-support diagnostics, not ground-truth errors. Initial static appearance neither removes nor repairs those later observations. [Preserved temporal review](../review_v1/REVIEW.md). - -Only this new review packet, its findings and scoped review scratch were written. The owner acceptance is recorded below. - -## 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_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1.log deleted file mode 100644 index edb11fbc3938b9ceb4d0419993f37c2d0a54fa35..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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 19:26:23] -Init points from pcd... [28/10 19:26:23] -Init points from mesh... [28/10 19:26:23] -Loading Training Cameras [28/10 19:26:24] -Loading Test Cameras [28/10 19:26:24] -Number of points at initialisation : 128933 [28/10 19:26:24] -Sampling 100000 points from mesh [28/10 19:26:24] -{ - "cameras": [ - { - "id": 0, - "width": 1920, - "height": 1080, - "object_px": 9557, - "occlusion_px": 258761, - "valid_depth_px": 1929856, - "boundary_px": 3072, - "projection_max_error_px": 2.1401114150851342e-05 - }, - { - "id": 1, - "width": 1920, - "height": 1080, - "object_px": 10050, - "occlusion_px": 151744, - "valid_depth_px": 2026237, - "boundary_px": 2955, - "projection_max_error_px": 7.911411738130172e-07 - }, - { - "id": 2, - "width": 1920, - "height": 1080, - "object_px": 11180, - "occlusion_px": 248845, - "valid_depth_px": 1971647, - "boundary_px": 3554, - "projection_max_error_px": 6.717487953735233e-06 - }, - { - "id": 3, - "width": 1920, - "height": 1080, - "object_px": 7590, - "occlusion_px": 186096, - "valid_depth_px": 1906237, - "boundary_px": 2518, - "projection_max_error_px": 2.3138273615789227e-06 - } - ], - "hybrid": { - "vertex_color_branch": true, - "mesh": 103680, - "observed": 25253, - "total": 128933 - } -} [28/10 19:26:24] diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1_argv.json deleted file mode 100644 index 4f4f3c81dd1f54c17803f3cb1eea94126d8cc15e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", - "--accepted-prior-manifest-sha256", - "96479e31f203201051f6b1ef0361c143645714cda68cb4c958d9089b428a6d4a", - "--output", - "/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_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_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_check_v1_result.json deleted file mode 100644 index ead914373296cb0b3bbd0c31b5366bf9211a23d6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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": 2.7759429270081455, - "completed_utc": "2026-10-28T23:26:24.867924+00:00", - "source_commit": "5e33a51eb977bdc3ab7e51277b87c41a57bd728d" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_complete.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_complete.json deleted file mode 100644 index aca12491bf707fe92c6fbe7f139d018add4c7205..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_complete.json +++ /dev/null @@ -1,7 +0,0 @@ -{ - "case_id": "233045", - "phase": "appearance", - "failed_stage": null, - "prep": "/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", - "completed_utc": "2026-10-28T23:28:56.708474+00:00" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1.log deleted file mode 100644 index 5d614ca363b56a783712e3b0f54d1028cfb2d60d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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 19:28:45] -Init points from pcd... [28/10 19:28:45] -Init points from mesh... [28/10 19:28:45] -Loading Training Cameras [28/10 19:28:45] -Loading Test Cameras [28/10 19:28:45] -Number of points at initialisation : 128933 [28/10 19:28:45] -Sampling 100000 points from mesh [28/10 19:28:45] -Loading trained model at iteration 7000 [28/10 19:28:47] [28/10 19:28:47] -Found metadata.json file, assuming customized QQTT dataset! [28/10 19:28:47] [28/10 19:28:47] -Init points from pcd... [28/10 19:28:48] [28/10 19:28:48] -Init points from mesh... [28/10 19:28:48] [28/10 19:28:48] -Loading Training Cameras [28/10 19:28:48] [28/10 19:28:48] -Loading Test Cameras [28/10 19:28:48] [28/10 19:28:48] -Sampling 100000 points from mesh [28/10 19:28:48] [28/10 19:28:48] -Loading trained model at iteration 10000 [28/10 19:28:49] [28/10 19:28:49] [28/10 19:28:49] -Found metadata.json file, assuming customized QQTT dataset! [28/10 19:28:49] [28/10 19:28:49] [28/10 19:28:49] -Init points from pcd... [28/10 19:28:50] [28/10 19:28:50] [28/10 19:28:50] -Init points from mesh... [28/10 19:28:50] [28/10 19:28:50] [28/10 19:28:50] -Loading Training Cameras [28/10 19:28:50] [28/10 19:28:50] [28/10 19:28:50] -Loading Test Cameras [28/10 19:28:50] [28/10 19:28:50] [28/10 19:28:50] -Sampling 100000 points from mesh [28/10 19:28:50] [28/10 19:28:50] [28/10 19:28:50] -{ - "snapshots": [ - "0", - "7000", - "10000" - ], - "review": "/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/review" -} [28/10 19:28:56] [28/10 19:28:56] [28/10 19:28:56] diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1_argv.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1_argv.json deleted file mode 100644 index 7e9572da3988d45e657622baab9ea5fce433b14c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/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_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1_result.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_review_v1_result.json deleted file mode 100644 index ba8ce81d1734463b5150a5596d3f241ff992b764..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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": 15.583354414004134, - "completed_utc": "2026-10-28T23:28:56.708324+00:00", - "source_commit": "5e33a51eb977bdc3ab7e51277b87c41a57bd728d" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1.log b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1.log deleted file mode 100644 index bbd5de1e5190ea369d137caf1473ad0a61b67df3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/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_233045_819927/window_anchor0256-0546/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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/appearance_train_v1/model [28/10 19:26:26] -Found metadata.json file, assuming customized QQTT dataset! [28/10 19:26:26] -Init points from pcd... [28/10 19:26:26] -Init points from mesh... [28/10 19:26:26] -Loading Training Cameras [28/10 19:26:26] -Loading Test Cameras [28/10 19:26:27] -Number of points at initialisation : 128933 [28/10 19:26:27] -Sampling 100000 points from mesh [28/10 19:26:27] - Training progress: 0%| | 0/10000 [00:00 0.1, unchanged source export rule", - "runtime_override_names": [ - "native_loader_size", - "q5_sh2_depth_loss" - ], - "opacity_reset_interval": 3000 - }, - "numerical_evidence": { - "finite_saved_view_arrays": [ - "iteration_0/view_0.npz", - "iteration_0/view_1.npz", - "iteration_0/view_2.npz", - "iteration_0/view_3.npz", - "iteration_7000/view_0.npz", - "iteration_7000/view_1.npz", - "iteration_7000/view_2.npz", - "iteration_7000/view_3.npz", - "iteration_10000/view_0.npz", - "iteration_10000/view_1.npz", - "iteration_10000/view_2.npz", - "iteration_10000/view_3.npz" - ], - "ply_stats": { - "model/input.ply": { - "population": 128933, - "all_finite": true - }, - "model/point_cloud/iteration_7000/point_cloud.ply": { - "population": 133640, - "all_finite": true, - "strict_opacity_gt_0_1": 109858, - "scale_columns": [ - "scale_0" - ], - "rest_sh_columns": 45 - }, - "model/point_cloud/iteration_10000/point_cloud.ply": { - "population": 133944, - "all_finite": true, - "strict_opacity_gt_0_1": 102977, - "scale_columns": [ - "scale_0" - ], - "rest_sh_columns": 45 - } - }, - "finite_scalar_tags": [ - "train_loss_patches/l1_loss", - "train_loss_patches/total_loss", - "iter_time" - ], - "scalar_steps_verified": [ - 1, - 10000 - ], - "scalar_steps_contiguous": true, - "snapshots": { - "0": { - "before_filter": 128933, - "after_filter": 128933, - "scale_m_p05_p50_p95": [ - 0.00031622781534679234, - 0.00033123043249361217, - 0.00104307709261775 - ], - "opacity_p05_p50_p95": [ - 0.10000000149011612, - 0.10000000149011612, - 0.10000000149011612 - ], - "isotropic_log_scale_columns": 1, - "active_sh_degree": 0, - "views": { - "0": { - "l1": 0.000731396081391722, - "ssim_fused": 0.9931246638298035, - "seg_l1": 0.002328872215002775, - "seg_ssim_ref": 0.9931246638298035, - "depth": 0.003833683298647772, - "rgb_loss": 0.0019601841922849417, - "seg_loss": 0.0032381650526076555, - "total": 0.005202182928191245 - }, - "1": { - "l1": 0.0008307393873110414, - "ssim_fused": 0.9926649332046509, - "seg_l1": 0.002845038427039981, - "seg_ssim_ref": 0.9926649332046509, - "depth": 0.003679958449629722, - "rgb_loss": 0.0021316048223525286, - "seg_loss": 0.003743044100701809, - "total": 0.005878328648673324 - }, - "2": { - "l1": 0.0007615310023538768, - "ssim_fused": 0.9923328757286072, - "seg_l1": 0.0027322741225361824, - "seg_ssim_ref": 0.9923328161239624, - "depth": 0.0047047359601238075, - "rgb_loss": 0.002142649609595537, - "seg_loss": 0.0037192562595009804, - "total": 0.0058666106050566415 - }, - "3": { - "l1": 0.0006287645664997399, - "ssim_fused": 0.9942381978034973, - "seg_l1": 0.0019426491344347596, - "seg_ssim_ref": 0.9942381978034973, - "depth": 0.002372197532101684, - "rgb_loss": 0.001655372092500329, - "seg_loss": 0.002706479746848345, - "total": 0.004364224269711419 - } - } - }, - "7000": { - "before_filter": 133640, - "after_filter": 109858, - "scale_m_p05_p50_p95": [ - 1.874384843176813e-05, - 0.00019108124251943082, - 0.0011091148073319344 - ], - "opacity_p05_p50_p95": [ - 0.11695391982793808, - 0.3107241094112396, - 0.8839650779962539 - ], - "isotropic_log_scale_columns": 1, - "active_sh_degree": 3, - "views": { - "0": { - "l1": 6.57203490845859e-05, - "ssim_fused": 0.9997681975364685, - "seg_l1": 0.00011514801735756919, - "seg_ssim_ref": 0.9997681975364685, - "depth": 0.0005921318895526138, - "rgb_loss": 9.89367690635845e-05, - "seg_loss": 0.00013847890659235418, - "total": 0.0002380078075454913 - }, - "1": { - "l1": 5.31244368175976e-05, - "ssim_fused": 0.9998431205749512, - "seg_l1": 0.00010136788478121161, - "seg_ssim_ref": 0.9998431205749512, - "depth": 0.00059696019999177, - "rgb_loss": 7.387543155346066e-05, - "seg_loss": 0.00011247019574511796, - "total": 0.00018694258749857038 - }, - "2": { - "l1": 5.693542698281817e-05, - "ssim_fused": 0.9997912049293518, - "seg_l1": 0.00011000772065017372, - "seg_ssim_ref": 0.9997912049293518, - "depth": 0.000636441446023039, - "rgb_loss": 8.730735862627625e-05, - "seg_loss": 0.00012976519064977765, - "total": 0.00021770899072207694 - }, - "3": { - "l1": 4.2961797589669004e-05, - "ssim_fused": 0.9998083114624023, - "seg_l1": 0.00011463984992587939, - "seg_ssim_ref": 0.9998083114624023, - "depth": 0.00038408590755666854, - "rgb_loss": 7.270714559126645e-05, - "seg_loss": 0.00013004959328100085, - "total": 0.00020314082477982398 - } - } - }, - "10000": { - "before_filter": 133944, - "after_filter": 102977, - "scale_m_p05_p50_p95": [ - 1.105825194827048e-05, - 0.0001519439392723143, - 0.0014537181239575147 - ], - "opacity_p05_p50_p95": [ - 0.11289702653884888, - 0.30280041694641113, - 0.8608355402946472 - ], - "isotropic_log_scale_columns": 1, - "active_sh_degree": 3, - "views": { - "0": { - "l1": 5.8557467127684504e-05, - "ssim_fused": 0.9997844099998474, - "seg_l1": 0.00010083079541800544, - "seg_ssim_ref": 0.9997844099998474, - "depth": 0.0005398737045382093, - "rgb_loss": 8.996397082228214e-05, - "seg_loss": 0.00012378263636492193, - "total": 0.00021428648089174228 - }, - "1": { - "l1": 4.893372533842921e-05, - "ssim_fused": 0.9998461604118347, - "seg_l1": 8.866458665579557e-05, - "seg_ssim_ref": 0.9998461604118347, - "depth": 0.0005456589626382898, - "rgb_loss": 6.991489499341697e-05, - "seg_loss": 0.00010169959568884224, - "total": 0.0001721601496448975 - }, - "2": { - "l1": 5.438828520709649e-05, - "ssim_fused": 0.9997979402542114, - "seg_l1": 9.729123121360317e-05, - "seg_ssim_ref": 0.9997979402542114, - "depth": 0.0005784652031323424, - "rgb_loss": 8.392258314415812e-05, - "seg_loss": 0.00011824493412859738, - "total": 0.00020274598247588783 - }, - "3": { - "l1": 4.484201781451702e-05, - "ssim_fused": 0.9997988939285278, - "seg_l1": 0.00010589278099359944, - "seg_ssim_ref": 0.9997988939285278, - "depth": 0.0003518495118969845, - "rgb_loss": 7.609483145643026e-05, - "seg_loss": 0.00012493543908931315, - "total": 0.0002013821200576404 - } - }, - "novel_frames": 200 - } - }, - "mean_same_training_view_source_total": { - "0": 0.005327836612908157, - "7000": 0.00021145005263649064, - "10000": 0.000197643683267542 - }, - "interpretation": "Source masked, occlusion-aware full-image reductions over the same four initial training views. Review renders at trained snapshots use the reference strict opacity filter. These are not held-out errors, dimensional reconstruction accuracy or dynamics evidence." - }, - "inspected_images_relative_to_review": [ - "iteration_10000/view_0_sheet.png", - "iteration_10000/view_1_sheet.png", - "iteration_10000/view_2_sheet.png", - "iteration_10000/view_3_sheet.png", - "loss_curves.png", - "novel_frames/frame_000.jpg", - "novel_frames/frame_025.jpg", - "novel_frames/frame_050.jpg", - "novel_frames/frame_075.jpg", - "novel_frames/frame_100.jpg", - "novel_frames/frame_125.jpg", - "novel_frames/frame_150.jpg", - "novel_frames/frame_175.jpg" - ], - "visual_coverage": { - "final_comparison_sheets": 4, - "loss_curve_images": 1, - "novel_view_frames_inspected": 8, - "novel_view_frames_saved": 200, - "novel_view_frame_indices": [ - 0, - 25, - 50, - 75, - 100, - 125, - 150, - 175 - ], - "method": "All 13 images viewed individually; eight samples do not certify every video frame." - }, - "visual_summary": "The exposed chain contours and repeated link-like texture are coherent across the four training views. The hand-hidden grip interval remains visibly open in the rendered appearance, with a dark widened or speckled end near the gap. The rotation preserves this local defect; it does not demonstrate a completed closed chain appearance.", - "per_camera_observations": { - "12540311": "The visible upper loop and two sides follow the observed chain, including the angular shoulder. At the lower hand-covered interval the rendering ends in two separated tips; the left tip is widened, brown/dark and speckled, with small detached alpha flecks. The broad visible alpha contour otherwise follows the object mask.", - "12933256": "The exposed lower and left arcs and their link-like pattern match the broad observed contour. The upper-right grip interval remains an open notch between two ends, with a small mottled protrusion at one end. Rendered alpha and depth retain that notch.", - "17736741": "The visible loop and bent right/lower arc are coherent. At the lower-left hand-covered interval a dark broad tip and a shorter exposed tip remain separated; sparse alpha flecks appear just inside the broad tip. This region is not a visually validated hidden completion.", - "23007103": "The observed broad triangular/rounded contour and repeated surface detail are reproduced along the exposed chain. The upper-left grip remains a dark gap between ends with a compact protruding patch. There is no obvious global contour collapse in this sheet." - }, - "orbit_observations": [ - "All eight sampled orbit frames contain the object within image bounds, with no separate remote cloud apparent. The exposed chain keeps its broad contour through the sampled rotation.", - "The grip gap remains apparent from several orbit angles, with a widened darker end and locally rough texture. Foreshortening can make the ends appear closer in some views, but the samples do not establish a closed appearance surface. Only frames 0/25/50/75/100/125/150/175 were inspected." - ], - "loss_observation": "Both plotted training losses decrease strongly and settle to lower levels, with sharp transients near iterations 3000, 6000 and 9000 that recover promptly. Their timing is consistent with the source's 3000-step opacity reset interval; the curves provide training optimization evidence, not held-out or physical accuracy.", - "material_limitations_for_owner_decision": [ - "The open, partly mottled hand-hidden grip interval is a material appearance limitation for the owner's decision. Coherent visible links do not validate the hidden connection, physical link geometry or contact.", - "The saved source totals average full-image, masked, occlusion-aware training-view reductions. The large background contribution in the raw RGB residual panel is not the optimization target, and the black orbit background is a diagnostic render.", - "Static initial appearance does not resolve later temporal coverage loss, depth tails or repeated-link correspondence, and it supplies no dynamics validation." - ], - "initial_reference_hand_context": "one participating hand_A; hand_B absent", - "later_sequence_measurement_caveat": "Camera 12540311 has zero admitted object support at native-relative frames 172\u2013248 inclusive and 11 undefined object-mask coverage entries remain NaNs; the preserved review shows substantial derived gaps around sample 175. Camera 12933256 paired native-minus-WAFT tails reach \u2212348 mm at frame 167 and +98 mm at 166. These are common-support diagnostics, not ground-truth errors. Initial static appearance neither removes nor repairs those later observations.", - "blocking_findings_for_review_completion": [], - "review_only_no_scientific_changes": true -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1/review/curves.json b/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1/review/curves.json deleted file mode 100644 index f1011a9ae452f9b6794169b2236d3e577e7d4e6a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1/review/curves.json +++ /dev/null @@ -1,120008 +0,0 @@ -{ - "train_loss_patches/l1_loss": [ - [ - 1, - 0.0006287645664997399 - ], - [ - 2, - 0.0008268447127193213 - ], - [ - 3, - 0.0007219485705718398 - 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"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_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json", - "selected_frames_sha256": "f215c7f16f122702d714a0946ffb217e8e3f1e654dc447961ee68fb9e75c33c2", - "selected_session": "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927", - "signed_native_frames": null, - "signed_native_frames_sha256": null, - "views": [ - { - "crop_xyxy": [ - 507, - 378, - 1209, - 1080 - ], - "frames": 291, - "queries": 5000, - "saved_query_product_sha256": "d6c5c2fffa6f7a96afb2762620710c04566ebb74e0f05ae75666223716879a48", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/cameras/12540311/inspection/frames.npz", - "selected_frames_sha256": "c9ee992b4fe990a91356fa0ed58c7d74927aadec6892e1186063436d8a9df663", - "serial": "12540311", - "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12540311/inspection/frames.npz", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12540311.npz" - }, - { - "crop_xyxy": [ - 633, - 23, - 1379, - 769 - ], - "frames": 291, - "queries": 5000, - "saved_query_product_sha256": "66786ef0689581380ec1943a8a3d40bd0c4aaa911f0dd7b75d7ff09b9d4bf5d5", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/cameras/12933256/inspection/frames.npz", - "selected_frames_sha256": "3e635b00202c34a8c0ead41218d28f055da7eb002126dc04641b58aaacc82d8b", - "serial": "12933256", - "signed_native_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/native_inputs/cameras/12933256/inspection/frames.npz", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_12933256.npz" - }, - { - "crop_xyxy": [ - 516, - 260, - 1281, - 1025 - ], - "frames": 292, - "queries": 5000, - "saved_query_product_sha256": "bfe4d13669c4cfc57609c71b9cb63b7be5b1389721c2301f1c4f48b8dabbab3e", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/cameras/17736741/inspection/frames.npz", - "selected_frames_sha256": "eb7496fca2c31e226775986c5e57fa9c7ea0557c2b711d3debe99008d7afe98f", - "serial": "17736741", - "signed_native_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", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_17736741.npz" - }, - { - "crop_xyxy": [ - 868, - 90, - 1641, - 863 - ], - "frames": 293, - "queries": 5000, - "saved_query_product_sha256": "ace4461b72e2b8faac7c07e1f0382331b58982c3ba9629bc4f7c70ce3bae320d", - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/frames_waft/cameras/23007103/inspection/frames.npz", - "selected_frames_sha256": "91fa5815823818b39a35f50fbf5e92c348936e040ec38582185dd056544b2ea5", - "serial": "23007103", - "signed_native_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", - "track_file": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0256-0546/accepted_input_preparation_c6a_v1/tapnextpp_tracks/tracks_23007103.npz" - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/C6A_REVIEW.md b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/C6A_REVIEW.md deleted file mode 100644 index c2e471262d60e81879817d3c8e094f7e17e33b8a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/C6A_REVIEW.md +++ /dev/null @@ -1,37 +0,0 @@ -# session_20260921_233045_819927: C6a proposal review - -**Status: agent proposal; owner mask/window/contact decisions pending.** - -Object: bike chain. Motion: right-handed grasp lifting completely off table, tilt hand and object allowing collapsing of chain, then put down. -Current packet anchor converted frames: **222–558 inclusive**. -Current packet endpoint sync timestamps: `1790047878247763130` / `1790047889520871268` 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_233045_819927/window_proposal_c1/proposal.json`. - -**Unequal counts:** the four products below each consume only their named camera’s own column. Other nearest-camera columns in those NPZ files are not admitted source clocks. C1a is required before tracking/lifting/fitting-input consumers use this case. - -## Exact own-camera mapping - -| Camera | Window-local t | Converted frames | Native container frames | First / last capture timestamp ns | -|---|---|---|---|---| -| 12540311 | 0–336 | 222–558 | 223–559 | 1790047878247763130 / 1790047889520871268 | -| 12933256 | 0–336 | 221–557 | 222–558 | 1790047878246717440 / 1790047889520810248 | -| 17736741 | 0–337 | 222–559 | 223–560 | 1790047878241971909 / 1790047889514031468 | -| 23007103 | 0–337 | 221–558 | 222–559 | 1790047878237092072 / 1790047889510506431 | - -## 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_233045_819927/window_anchor0222-0558/cameras/12540311/review_media_c6a_grasp_12540311_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311/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_233045_819927/window_anchor0222-0558/cameras/12540311/review_media_c6a_grasp_12540311_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311/review_media_c6a_grasp_12540311_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311/review_media_c6a_grasp_12540311_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311/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_233045_819927/window_anchor0222-0558/cameras/12933256/review_media_c6a_grasp_12933256_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12933256/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_233045_819927/window_anchor0222-0558/cameras/12933256/review_media_c6a_grasp_12933256_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12933256/review_media_c6a_grasp_12933256_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12933256/review_media_c6a_grasp_12933256_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12933256/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_233045_819927/window_anchor0222-0558/cameras/17736741/review_media_c6a_grasp_17736741_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741/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_233045_819927/window_anchor0222-0558/cameras/17736741/review_media_c6a_grasp_17736741_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741/review_media_c6a_grasp_17736741_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741/review_media_c6a_grasp_17736741_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741/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_233045_819927/window_anchor0222-0558/cameras/23007103/review_media_c6a_grasp_23007103_v1/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/23007103/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_233045_819927/window_anchor0222-0558/cameras/23007103/review_media_c6a_grasp_23007103_v1/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/23007103/review_media_c6a_grasp_23007103_v1/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/23007103/review_media_c6a_grasp_23007103_v1/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/23007103/review_media_c6a_grasp_23007103_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_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json deleted file mode 100644 index 9c8da1398b2cb5d244db32fe4bb98bee16c0e089..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "d64e637850051ec436032da098af76a81ce3df787e32b30963a7ee961b2b5215", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 558 - ], - "anchor_time_ns_first_last": [ - 1790047878247763130, - 1790047889520871268 - ] - }, - "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": 1790047878247763130 - }, - "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": [ - [ - 710.0, - 910.0 - ], - [ - 860.0, - 913.0 - ], - [ - 917.0, - 860.0 - ], - [ - 812.0, - 892.0 - ], - [ - 640.0, - 910.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 655.0, - 825.0, - 970.0, - 1005.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, black 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": "6e71a3e5c40cb46aa2f1d356ad47f5548356181fe3923895e5671ef47d523d21", - "seed_mask_pixels": 28706, - "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": "2026-10-28T00:17:21Z" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz deleted file mode 100644 index ee3ae983fe7520aba77f20f24a1ba2aa4e7e4500..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/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 sha256:6e71a3e5c40cb46aa2f1d356ad47f5548356181fe3923895e5671ef47d523d21 -size 1935 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/hand_B/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/hand_B/t0000_v01.json deleted file mode 100644 index 1dd150d608c6f4c89bc9f44521d6e6ae4dcd6948..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/hand_B/t0000_v01.json +++ /dev/null @@ -1,55 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "d64e637850051ec436032da098af76a81ce3df787e32b30963a7ee961b2b5215", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 558 - ], - "anchor_time_ns_first_last": [ - 1790047878247763130, - 1790047889520871268 - ] - }, - "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": 1790047878247763130 - }, - "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 [0,337): only right bracelet hand_A participates; visible resting left hand 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": "2026-10-28T00:17:21Z", - "reviewed_absence_half_open": [ - 0, - 337 - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01.json deleted file mode 100644 index 1a6afe3a327fc2adb73e4b92c8dbe03788b6e20e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "d64e637850051ec436032da098af76a81ce3df787e32b30963a7ee961b2b5215", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 558 - ], - "anchor_time_ns_first_last": [ - 1790047878247763130, - 1790047889520871268 - ] - }, - "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": 1790047878247763130 - }, - "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": [ - [ - 910.0, - 618.0 - ], - [ - 813.0, - 724.0 - ], - [ - 964.0, - 846.0 - ], - [ - 900.0, - 700.0 - ], - [ - 900.0, - 884.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 782.0, - 605.0, - 1028.0, - 893.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Visible chain links only, including exposed pieces beside the right hand; exclude interior/table, shadows and occluding hand. 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": "aef9aef52d5744c16e7cdbb720a98dd411497a0747cbd6026ba8a64e3ad24094", - "seed_mask_pixels": 11159, - "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": "2026-10-28T00:17:21Z" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz deleted file mode 100644 index 64a975a98272543e9f4237c4c0a02e303f627e8a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/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:aef9aef52d5744c16e7cdbb720a98dd411497a0747cbd6026ba8a64e3ad24094 -size 2385 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/occluder/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/occluder/t0000_v01.json deleted file mode 100644 index a5974f15cbe9c6d097b3b97aeda37c423792afce..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/occluder/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "d64e637850051ec436032da098af76a81ce3df787e32b30963a7ee961b2b5215", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 558 - ], - "anchor_time_ns_first_last": [ - 1790047878247763130, - 1790047889520871268 - ] - }, - "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": 1790047878247763130 - }, - "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": [ - [ - 120.0, - 930.0 - ], - [ - 610.0, - 930.0 - ], - [ - 735.0, - 910.0 - ], - [ - 812.0, - 892.0 - ], - [ - 915.0, - 949.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1 - ], - "box_uv": [ - 0.0, - 0.0, - 970.0, - 1079.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; All visible person pixels: cropped head at upper left and right sleeve/bracelet/forearm/hand along lower left. Exclude table, chain, robot and supports. 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": "12cbe9f93250a58253b7b85838fa99bc92d2d8d7dc6a1c493504c7aedebac188", - "seed_mask_pixels": 187067, - "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": "2026-10-28T00:17:21Z" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/occluder/t0000_v01_seed_mask.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/occluder/t0000_v01_seed_mask.npz deleted file mode 100644 index 46d9678dddd5f2df96a31ad49e94ac5da53abc3b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/annotations/prompts/12540311/occluder/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:12cbe9f93250a58253b7b85838fa99bc92d2d8d7dc6a1c493504c7aedebac188 -size 3629 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/grasp_import_12540311_v1.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/grasp_import_12540311_v1.json deleted file mode 100644 index ea06ae38e76bbecda793083c41dc613803fbff32..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/grasp_import_12540311_v1.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "source_returned_worker": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/c6a_20261027/grasp_results_v1/233045/12540311/worker-1473973", - "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311", - "serial": "12540311", - "frame_bundle_byte_equal": true, - "roles": [ - { - "role": "object", - "T": 337, - "supplier_runs": [ - 1 - ], - "current_prompt_seed_and_frame_binding_passed": true - }, - { - "role": "hand_A", - "T": 337, - "supplier_runs": [ - 1 - ], - "current_prompt_seed_and_frame_binding_passed": true - }, - { - "role": "hand_B", - "T": 337, - "supplier_runs": [ - 1 - ], - "current_prompt_seed_and_frame_binding_passed": true - }, - { - "role": "occluder", - "T": 337, - "supplier_runs": [ - 1 - ], - "current_prompt_seed_and_frame_binding_passed": true - } - ], - "media": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311/review_media_c6a_grasp_12540311_v1", - "owner_window_accepted": false, - "owner_masks_accepted": false -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspect.log b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspect.log deleted file mode 100644 index bde34ae86d6ea6743c4d770b23a8a8947818b8b6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspect.log +++ /dev/null @@ -1 +0,0 @@ -Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311/inspection/inspection.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspect_command.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspect_command.json deleted file mode 100644 index a703dc68fc5af243ff13255d86a836b2336e1418..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspect_command.json +++ /dev/null @@ -1,15 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3", - "scripts/phystwin_real_rgbd.py", - "inspect", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927", - "--window", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311/phystwin_window.yaml", - "--frame-association", - "anchor_nearest", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311/inspection", - "--sample-t", - "0" -] diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspection/frames.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspection/frames.npz deleted file mode 100644 index 3e5a5431277965cf500bc48f2ff466d1b0e84190..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:27c0bc9af50d91c9b8504e2ac7ac1c3c0a4ea3538b56835c654cedbaaeb1734f -size 84732 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspection/inspection.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspection/inspection.json deleted file mode 100644 index 2a91bc06fd51b865ce38cfe4d925dc1e2520e31e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/inspection/inspection.json +++ /dev/null @@ -1,344 +0,0 @@ -{ - 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"samples": [ - { - "t": 0, - "serial": "12540311", - "converted_frame_index": 222, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 5001 - }, - "depth_zero_fraction": 0.03390576774691358, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.587, - 1.302, - 5.001 - ] - }, - { - "t": 0, - "serial": "12933256", - "converted_frame_index": 221, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 6441 - }, - "depth_zero_fraction": 0.030754726080246913, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.649, - 1.188, - 6.441 - ] - }, - { - "t": 0, - "serial": "17736741", - "converted_frame_index": 222, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 3666 - }, - "depth_zero_fraction": 0.02749710648148148, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.58, - 1.1520000000000001, - 3.666 - ] - }, - { - "t": 0, - "serial": "23007103", - "converted_frame_index": 221, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 5442 - }, - "depth_zero_fraction": 0.04648823302469136, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.48, - 1.08, - 5.442 - ] - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/hand_A/run0001_t0000-0337.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/hand_A/run0001_t0000-0337.npz deleted file mode 100644 index 5d1f24bbd9fca239e18f184dc063272f5c8cb843..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/hand_A/run0001_t0000-0337.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7f70bd9637985ca010d38f16a7e33b025be5c206895665c6f56bfef1a0242019 -size 424194 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/hand_B/run0001_t0000-0337.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/hand_B/run0001_t0000-0337.npz deleted file mode 100644 index d90fc60fbe6466d6ab6a15be3c0a6b75de31597a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/hand_B/run0001_t0000-0337.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fc9e14fb0ce8892a1ac2a6f8c97e0f229b2d28c67e32d9da69369d87c19a6d9e -size 87164 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/object/run0001_t0000-0337.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/object/run0001_t0000-0337.npz deleted file mode 100644 index 93f5ada6b70036b590dcb1972c0c24a7f73e448e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/object/run0001_t0000-0337.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d9cae22612060d64bdc8a39ed1ecb2a18651f0ca4e9eeecb7978e7a7be48d10f -size 367798 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/occluder/run0001_t0000-0337.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/occluder/run0001_t0000-0337.npz deleted file mode 100644 index 9497465c5471f8d707298fdae0db7365704b1370..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/masks/12540311/occluder/run0001_t0000-0337.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6451d21621119ce90886bf16154ea03293b58fa782be7b8ca28cf2dd8bb49ba8 -size 984200 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/phystwin_window.yaml b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/phystwin_window.yaml deleted file mode 100644 index 931df34bdcc3b68d09565912aadc4d7308309419..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/phystwin_window.yaml +++ /dev/null @@ -1,85 +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: 1790047878247763130 - end_global_timestamp_ns: 1790047889520871268 - start_condition: hand_or_forearm_visible_and_in_contact_with_object - end_condition: before_release_or_contact_break - expected_visible_hands_or_arms: 1 - object_description: bike chain - controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left - hand. Participating: hand_A' - annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed - interaction. Start: 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).' -resolved_window: - start_sync_index: 221 - end_sync_index_exclusive: 558 - start_anchor_timestamp_ns: 1790047878247763130 - end_anchor_timestamp_ns: 1790047889520871268 - frame_count: 337 - duration_s: 11.273108 -per_camera_resolution: - '12540311': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 559 - start_source_timestamp_ns: 1790047878247763130 - end_source_timestamp_ns: 1790047889520871268 - start_delta_ns: 0 - end_delta_ns: 0 - '12933256': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 558 - start_source_timestamp_ns: 1790047878246717440 - end_source_timestamp_ns: 1790047889520810248 - start_delta_ns: -1045690 - end_delta_ns: -61020 - '17736741': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 560 - start_source_timestamp_ns: 1790047878241971909 - end_source_timestamp_ns: 1790047889514031468 - start_delta_ns: -5791221 - end_delta_ns: -6839800 - '23007103': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 559 - start_source_timestamp_ns: 1790047878237092072 - end_source_timestamp_ns: 1790047889510506431 - start_delta_ns: -10671058 - end_delta_ns: -10364837 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 10671058 - warnings: [] -created_by: manual -created_at: '2026-10-27T19:29:18+00:00' -updated_at: '2026-10-27T19:29:18+00:00' - diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/proposal_prompts_c6a_before_owner_sparse.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/proposal_prompts_c6a_before_owner_sparse.json deleted file mode 100644 index 7d093319334233c67be3b81da5c8aea59ff93841..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/proposal_prompts_c6a_before_owner_sparse.json +++ /dev/null @@ -1,275 +0,0 @@ -{ - "proposer": "c6a_20261027", - "prompts": [ - { - "serial": "12540311", - "instance": "object", - "t": 0, - "points": [ - [ - 910, - 618 - ], - [ - 860, - 625 - ], - [ - 820, - 637 - ], - [ - 801, - 667 - ], - [ - 798, - 691 - ], - [ - 813, - 724 - ], - [ - 824, - 759 - ], - [ - 846, - 789 - ], - [ - 860, - 820 - ], - [ - 1007, - 705 - ], - [ - 997, - 736 - ], - [ - 983, - 773 - ], - [ - 979, - 803 - ], - [ - 964, - 846 - ], - [ - 957, - 871 - ], - [ - 933, - 877 - ], - [ - 958, - 650 - ], - [ - 988, - 675 - ], - [ - 900, - 700 - ], - [ - 920, - 790 - ], - [ - 900, - 830 - ], - [ - 900, - 884 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0 - ], - "box": [ - 782, - 605, - 1028, - 893 - ], - "note": "Agent draft only; Visible chain links only, including exposed pieces beside the right hand; exclude interior/table, shadows and occluding hand. Own converted frame 222." - }, - { - "serial": "12540311", - "instance": "hand_A", - "t": 0, - "points": [ - [ - 710, - 910 - ], - [ - 765, - 906 - ], - [ - 860, - 913 - ], - [ - 915, - 949 - ], - [ - 917, - 860 - ], - [ - 812, - 892 - ], - [ - 640, - 910 - ], - [ - 936, - 880 - ], - [ - 980, - 940 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0 - ], - "box": [ - 655, - 825, - 970, - 1005 - ], - "note": "Agent draft only; Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, black sleeve and chain." - }, - { - "serial": "12540311", - "instance": "occluder", - "t": 0, - "points": [ - [ - 35, - 70 - ], - [ - 55, - 155 - ], - [ - 120, - 930 - ], - [ - 410, - 940 - ], - [ - 610, - 930 - ], - [ - 735, - 910 - ], - [ - 860, - 913 - ], - [ - 915, - 949 - ], - [ - 300, - 700 - ], - [ - 700, - 800 - ], - [ - 900, - 700 - ], - [ - 1030, - 960 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0 - ], - "box": [ - 0, - 0, - 970, - 1079 - ], - "note": "Agent draft only; All visible person pixels: cropped head at upper left and right sleeve/bracelet/forearm/hand along lower left. Exclude table, chain, robot and supports." - }, - { - "serial": "12540311", - "instance": "hand_B", - "t": 0, - "absence_stop": 337, - "note": "Agent draft absence over [0,337): only right bracelet hand_A participates; visible resting left hand is included in occluder. Not owner-reviewed." - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/proposal_prompts_c6a_sparse_v1.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/proposal_prompts_c6a_sparse_v1.json deleted file mode 100644 index 07ee6813c677ef37a49df25077760a9353e8ad0f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/proposal_prompts_c6a_sparse_v1.json +++ /dev/null @@ -1,135 +0,0 @@ -{ - "proposer": "c6a_20261027", - "prompts": [ - { - "serial": "12540311", - "instance": "object", - "t": 0, - "points": [ - [ - 910, - 618 - ], - [ - 813, - 724 - ], - [ - 964, - 846 - ], - [ - 900, - 700 - ], - [ - 900, - 884 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box": [ - 782, - 605, - 1028, - 893 - ], - "note": "Agent draft only; Visible chain links only, including exposed pieces beside the right hand; exclude interior/table, shadows and occluding hand. 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." - }, - { - "serial": "12540311", - "instance": "hand_A", - "t": 0, - "points": [ - [ - 710, - 910 - ], - [ - 860, - 913 - ], - [ - 917, - 860 - ], - [ - 812, - 892 - ], - [ - 640, - 910 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box": [ - 655, - 825, - 970, - 1005 - ], - "note": "Agent draft only; Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, black 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." - }, - { - "serial": "12540311", - "instance": "occluder", - "t": 0, - "points": [ - [ - 120, - 930 - ], - [ - 610, - 930 - ], - [ - 735, - 910 - ], - [ - 812, - 892 - ], - [ - 915, - 949 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1 - ], - "box": [ - 0, - 0, - 970, - 1079 - ], - "note": "Agent draft only; All visible person pixels: cropped head at upper left and right sleeve/bracelet/forearm/hand along lower left. Exclude table, chain, robot and supports. 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." - }, - { - "serial": "12540311", - "instance": "hand_B", - "t": 0, - "absence_stop": 337, - "note": "Agent draft absence over [0,337): only right bracelet hand_A participates; visible resting left hand is included in occluder. Not owner-reviewed." - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/window_command.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/window_command.json deleted file mode 100644 index 04cda3dc56f4cd6fe9142dd65ac8384b29769216..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12540311/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_233045_819927", - "--anchor-serial", - "12540311", - "--start-timestamp-ns", - "1790047878247763130", - "--end-timestamp-ns", - "1790047889520871268", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "bike chain", - "--controller-description", - "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A", - "--notes", - "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start: 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).", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12540311/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json deleted file mode 100644 index b8cbb57c0ee58595d3464634bb38d52a3804f3a1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "864d97fb3c986f2c049abf38e1d34ccbe9a07e1f2c052cc8b38f28a88048cfe6", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 558 - ], - "anchor_time_ns_first_last": [ - 1790047878246717440, - 1790047889520810248 - ] - }, - "serial": "12933256", - "view_index": 1, - "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": 1790047878246717440 - }, - "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": [ - [ - 1065.0, - 480.0 - ], - [ - 1110.0, - 450.0 - ], - [ - 1235.0, - 400.0 - ], - [ - 1138.0, - 418.0 - ], - [ - 1290.0, - 420.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 1015.0, - 355.0, - 1290.0, - 510.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Right bracelet hand: 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": "dd48267bc6171f6f9cb1ec14ae0dc988c16fc86ab19c1bb3b58439e2ae17e6e4", - "seed_mask_pixels": 15467, - "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": "2026-10-28T00:17:29Z" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/annotations/prompts/12933256/hand_A/t0000_v01_seed_mask.npz deleted file mode 100644 index 5352d230364628450f304ad1df69682c78309341..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/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:dd48267bc6171f6f9cb1ec14ae0dc988c16fc86ab19c1bb3b58439e2ae17e6e4 -size 1718 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json deleted file mode 100644 index 9a1f10528cff0119bcaac8ebb338667c0d450d02..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/annotations/prompts/12933256/hand_B/t0000_v01.json +++ /dev/null @@ -1,55 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "864d97fb3c986f2c049abf38e1d34ccbe9a07e1f2c052cc8b38f28a88048cfe6", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 558 - ], - "anchor_time_ns_first_last": [ - 1790047878246717440, - 1790047889520810248 - ] - }, - "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": 1790047878246717440 - }, - "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 [0,337): only right bracelet hand_A participates; visible resting left hand 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": "2026-10-28T00:17:29Z", - "reviewed_absence_half_open": [ - 0, - 337 - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/annotations/prompts/12933256/object/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/annotations/prompts/12933256/object/t0000_v01.json deleted file mode 100644 index facbfe60f08e6b1a94f2407e0a69aa1e63851fc2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/annotations/prompts/12933256/object/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "864d97fb3c986f2c049abf38e1d34ccbe9a07e1f2c052cc8b38f28a88048cfe6", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 558 - ], - "anchor_time_ns_first_last": [ - 1790047878246717440, - 1790047889520810248 - ] - }, - "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": 1790047878246717440 - }, - "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": [ - [ - 997.0, - 504.0 - ], - [ - 979.0, - 597.0 - ], - [ - 803.0, - 619.0 - ], - [ - 910.0, - 582.0 - ], - [ - 1067.0, - 479.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 790.0, - 491.0, - 1061.0, - 658.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Visible chain links only; exclude loop interior, table, shadows and approaching right fingers. Own converted frame 221. Sparse owner-method revision: at most five total positive/negative points; whole-person occluder includes clothing and accessories. 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} - }, - "samples": [ - { - "t": 0, - "serial": "12540311", - "converted_frame_index": 222, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 5001 - }, - "depth_zero_fraction": 0.03390576774691358, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.587, - 1.302, - 5.001 - ] - }, - { - "t": 0, - "serial": "12933256", - "converted_frame_index": 221, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 6441 - }, - "depth_zero_fraction": 0.030754726080246913, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.649, - 1.188, - 6.441 - ] - }, - { - "t": 0, - "serial": "17736741", - "converted_frame_index": 222, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 3666 - }, - "depth_zero_fraction": 0.02749710648148148, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.58, - 1.1520000000000001, - 3.666 - ] - }, - { - "t": 0, - "serial": "23007103", - "converted_frame_index": 221, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 5442 - }, - "depth_zero_fraction": 0.04648823302469136, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.48, - 1.08, - 5.442 - ] - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0337.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0337.npz deleted file mode 100644 index 91f95f39bd14e68caf81fb1b13c5166c69f6c510..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/hand_A/run0001_t0000-0337.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:52ef6f56a3051eab2307f04d4144caa6b2ba1ae1a3f391383574f1ef4c99fbea -size 332740 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/hand_B/run0001_t0000-0337.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/hand_B/run0001_t0000-0337.npz deleted file mode 100644 index 8e4cf06b063d77cd49f460311b324e37d797564a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/hand_B/run0001_t0000-0337.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d231d9ad5bc06adc2c6dbb372bae26c2cb34e767e9c617e100c30995e1e2a235 -size 87157 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/object/run0001_t0000-0337.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/object/run0001_t0000-0337.npz deleted file mode 100644 index a9a1aa3b2ff1386c9c8dc81b8bd5e988c709659f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/object/run0001_t0000-0337.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3386b03fdc2bcf8f48d3fec13ad47ff99c954e7c9d05c35af95a1d2a2ff36a12 -size 477980 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/occluder/run0001_t0000-0337.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/occluder/run0001_t0000-0337.npz deleted file mode 100644 index cf94c8d80ac09ba5d61e024e966e264c9025972e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/masks/12933256/occluder/run0001_t0000-0337.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6025c07022b6ada3da3827323498a7a5c5cce4118d6311b8272b8a60cc218778 -size 870734 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/phystwin_window.yaml b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/phystwin_window.yaml deleted file mode 100644 index 5a338b4fa57a1998d231bbf921adc16d98e2c758..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/phystwin_window.yaml +++ /dev/null @@ -1,85 +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: '12933256' - anchor_stream_id: zed_12933256_left_rgb - timestamp_unit: ns - timestamp_reference: sync_time_ns - period_ns_estimate: 33453837 - fps_estimate: 29.891937 -manual_annotation: - start_global_timestamp_ns: 1790047878246717440 - end_global_timestamp_ns: 1790047889520810248 - start_condition: hand_or_forearm_visible_and_in_contact_with_object - end_condition: before_release_or_contact_break - expected_visible_hands_or_arms: 1 - object_description: bike chain - controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left - hand. Participating: hand_A' - annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed - interaction. Start: 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).' -resolved_window: - start_sync_index: 221 - end_sync_index_exclusive: 558 - start_anchor_timestamp_ns: 1790047878246717440 - end_anchor_timestamp_ns: 1790047889520810248 - frame_count: 337 - duration_s: 11.274093 -per_camera_resolution: - '12540311': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 559 - start_source_timestamp_ns: 1790047878247763130 - end_source_timestamp_ns: 1790047889520871268 - start_delta_ns: 1045690 - end_delta_ns: 61020 - '12933256': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 558 - start_source_timestamp_ns: 1790047878246717440 - end_source_timestamp_ns: 1790047889520810248 - start_delta_ns: 0 - end_delta_ns: 0 - '17736741': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 560 - start_source_timestamp_ns: 1790047878241971909 - end_source_timestamp_ns: 1790047889514031468 - start_delta_ns: -4745531 - end_delta_ns: -6778780 - '23007103': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 559 - start_source_timestamp_ns: 1790047878237092072 - end_source_timestamp_ns: 1790047889510506431 - start_delta_ns: -9625368 - end_delta_ns: -10303817 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 10303817 - warnings: [] -created_by: manual -created_at: '2026-10-27T19:29:43+00:00' -updated_at: '2026-10-27T19:29:43+00:00' - diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/proposal_prompts_c6a_before_owner_sparse.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/proposal_prompts_c6a_before_owner_sparse.json deleted file mode 100644 index dac09dd638db9fac8dc0f5c246c46d5173f993b6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/proposal_prompts_c6a_before_owner_sparse.json +++ /dev/null @@ -1,260 +0,0 @@ -{ - "proposer": "c6a_20261027", - "prompts": [ - { - "serial": "12933256", - "instance": "object", - "t": 0, - "points": [ - [ - 997, - 504 - ], - [ - 1040, - 513 - ], - [ - 1046, - 527 - ], - [ - 1024, - 543 - ], - [ - 1006, - 566 - ], - [ - 979, - 597 - ], - [ - 950, - 624 - ], - [ - 914, - 640 - ], - [ - 869, - 642 - ], - [ - 832, - 633 - ], - [ - 803, - 619 - ], - [ - 802, - 590 - ], - [ - 811, - 561 - ], - [ - 840, - 548 - ], - [ - 886, - 540 - ], - [ - 934, - 522 - ], - [ - 910, - 582 - ], - [ - 977, - 550 - ], - [ - 1067, - 479 - ], - [ - 820, - 680 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0 - ], - "box": [ - 790, - 491, - 1061, - 658 - ], - "note": "Agent draft only; Visible chain links only; exclude loop interior, table, shadows and approaching right fingers. Own converted frame 221." - }, - { - "serial": "12933256", - "instance": "hand_A", - "t": 0, - "points": [ - [ - 1070, - 435 - ], - [ - 1065, - 480 - ], - [ - 1110, - 450 - ], - [ - 1185, - 418 - ], - [ - 1235, - 400 - ], - [ - 1138, - 418 - ], - [ - 1290, - 420 - ], - [ - 1035, - 518 - ], - [ - 1100, - 530 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0 - ], - "box": [ - 1015, - 355, - 1290, - 510 - ], - "note": "Agent draft only; Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, sleeve and chain." - }, - { - "serial": "12933256", - "instance": "occluder", - "t": 0, - "points": [ - [ - 1540, - 280 - ], - [ - 1750, - 135 - ], - [ - 1870, - 30 - ], - [ - 1340, - 390 - ], - [ - 1070, - 435 - ], - [ - 1065, - 480 - ], - [ - 1190, - 418 - ], - [ - 1120, - 350 - ], - [ - 1450, - 500 - ], - [ - 1520, - 150 - ], - [ - 1000, - 530 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0 - ], - "box": [ - 1015, - 0, - 1919, - 510 - ], - "note": "Agent draft only; All visible person pixels entering from right: black sleeve/body, bracelet, forearm and right hand; exclude robot, poles and chain." - }, - { - "serial": "12933256", - "instance": "hand_B", - "t": 0, - "absence_stop": 337, - "note": "Agent draft absence over [0,337): only right bracelet hand_A participates; visible resting left hand is included in occluder. Not owner-reviewed." - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/proposal_prompts_c6a_sparse_v1.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/proposal_prompts_c6a_sparse_v1.json deleted file mode 100644 index 6c047ae22aef26aefa96b1141bd007d1a1e60fcf..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/proposal_prompts_c6a_sparse_v1.json +++ /dev/null @@ -1,135 +0,0 @@ -{ - "proposer": "c6a_20261027", - "prompts": [ - { - "serial": "12933256", - "instance": "object", - "t": 0, - "points": [ - [ - 997, - 504 - ], - [ - 979, - 597 - ], - [ - 803, - 619 - ], - [ - 910, - 582 - ], - [ - 1067, - 479 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box": [ - 790, - 491, - 1061, - 658 - ], - "note": "Agent draft only; Visible chain links only; exclude loop interior, table, shadows and approaching right fingers. Own converted frame 221. 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." - }, - { - "serial": "12933256", - "instance": "hand_A", - "t": 0, - "points": [ - [ - 1065, - 480 - ], - [ - 1110, - 450 - ], - [ - 1235, - 400 - ], - [ - 1138, - 418 - ], - [ - 1290, - 420 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box": [ - 1015, - 355, - 1290, - 510 - ], - "note": "Agent draft only; Right bracelet hand: 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." - }, - { - "serial": "12933256", - "instance": "occluder", - "t": 0, - "points": [ - [ - 1065, - 480 - ], - [ - 1138, - 418 - ], - [ - 1340, - 390 - ], - [ - 1540, - 280 - ], - [ - 1870, - 30 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1 - ], - "box": [ - 1015, - 0, - 1919, - 510 - ], - "note": "Agent draft only; All visible person pixels entering from right: black sleeve/body, bracelet, forearm and right hand; exclude robot, poles 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." - }, - { - "serial": "12933256", - "instance": "hand_B", - "t": 0, - "absence_stop": 337, - "note": "Agent draft absence over [0,337): only right bracelet hand_A participates; visible resting left hand is included in occluder. Not owner-reviewed." - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/window_command.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/window_command.json deleted file mode 100644 index 3347ec8a97f7b24660419683ce1a56f0a684cdda..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/12933256/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_233045_819927", - "--anchor-serial", - "12933256", - "--start-timestamp-ns", - "1790047878246717440", - "--end-timestamp-ns", - "1790047889520810248", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "bike chain", - "--controller-description", - "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A", - "--notes", - "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start: 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).", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/12933256/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json deleted file mode 100644 index 71e4cb882c349f9db8507eb59841660845d03c3d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "fb31f56e5bb6b15e4f06ce0e3059daf879cb2e21beb62e1ee763a58cad4f31b7", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 559 - ], - "anchor_time_ns_first_last": [ - 1790047878241971909, - 1790047889514031468 - ] - }, - "serial": "17736741", - "view_index": 2, - "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": 1790047878241971909 - }, - "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": [ - [ - 688.0, - 704.0 - ], - [ - 839.0, - 769.0 - ], - [ - 940.0, - 785.0 - ], - [ - 798.0, - 729.0 - ], - [ - 624.0, - 680.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 626.0, - 643.0, - 980.0, - 900.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, black sleeve, chain and robot. Sparse owner-method revision: at most five total positive/negative points; whole-person occluder includes clothing and accessories. Agent draft only, pending preview and owner review.", - "seed_mask_file": "t0000_v01_seed_mask.npz", - "seed_mask_sha256": "1f5596805211e5b178223012a61112e5882d63f486f4025ec178edb767454961", - "seed_mask_pixels": 32028, - "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": "2026-10-28T00:20:46Z" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/hand_A/t0000_v01_seed_mask.npz deleted file mode 100644 index ebba03b5253449f9d51f18f2a12ad71f7b638274..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/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 sha256:1f5596805211e5b178223012a61112e5882d63f486f4025ec178edb767454961 -size 2421 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/hand_B/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/hand_B/t0000_v01.json deleted file mode 100644 index 9def0f1cd6fd9b3ea4adfb9883f0ba04d7bc6467..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/hand_B/t0000_v01.json +++ /dev/null @@ -1,55 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "fb31f56e5bb6b15e4f06ce0e3059daf879cb2e21beb62e1ee763a58cad4f31b7", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 559 - ], - "anchor_time_ns_first_last": [ - 1790047878241971909, - 1790047889514031468 - ] - }, - "serial": "17736741", - "view_index": 2, - "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": 1790047878241971909 - }, - "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 [0,338): only right bracelet hand_A participates; visible resting left hand 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": "2026-10-28T00:20:47Z", - "reviewed_absence_half_open": [ - 0, - 338 - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01.json deleted file mode 100644 index 62e7ff0ae68d99f855447ea7c338957d31541b2a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "fb31f56e5bb6b15e4f06ce0e3059daf879cb2e21beb62e1ee763a58cad4f31b7", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 559 - ], - "anchor_time_ns_first_last": [ - 1790047878241971909, - 1790047889514031468 - ] - }, - "serial": "17736741", - "view_index": 2, - "instance": "object", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 222, - "official_frame_index": 222, - "native_container_frame_index": 223, - "view_time_ns": 1790047878241971909 - }, - "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": [ - [ - 1074.0, - 573.0 - ], - [ - 1193.0, - 684.0 - ], - [ - 1002.0, - 821.0 - ], - [ - 1075.0, - 675.0 - ], - [ - 920.0, - 790.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 936.0, - 557.0, - 1211.0, - 839.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Visible chain links only; exclude loop interior/table, shadow and occluding right hand. 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": "35edb1b3555a3df057067c662dc4d40e5ae53caaae0d576d1399b6172976cb6d", - "seed_mask_pixels": 12161, - "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": "2026-10-28T00:20:45Z" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01_seed_mask.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01_seed_mask.npz deleted file mode 100644 index ae5a52f3264c0a96f0cc581abf0740beb52dfe83..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/object/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:35edb1b3555a3df057067c662dc4d40e5ae53caaae0d576d1399b6172976cb6d -size 2466 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/occluder/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/occluder/t0000_v01.json deleted file mode 100644 index 1d07ebe9feb3f38b863a27b3ef44587db4a561b9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/occluder/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "fb31f56e5bb6b15e4f06ce0e3059daf879cb2e21beb62e1ee763a58cad4f31b7", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 221, - 559 - ], - "anchor_time_ns_first_last": [ - 1790047878241971909, - 1790047889514031468 - ] - }, - "serial": "17736741", - "view_index": 2, - "instance": "occluder", - "frame": { - "t": 0, - "sync_index": 221, - "converted_frame_index": 222, - "official_frame_index": 222, - "native_container_frame_index": 223, - "view_time_ns": 1790047878241971909 - }, - "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": [ - [ - 45.0, - 25.0 - ], - [ - 150.0, - 400.0 - ], - [ - 430.0, - 330.0 - ], - [ - 798.0, - 729.0 - ], - [ - 350.0, - 100.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 0 - ], - "box_uv": [ - 0.0, - 0.0, - 980.0, - 900.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; All visible person pixels including cropped head/torso, both sleeves, right arm/hand and resting left hand at the table edge. Left hand remains nonparticipating and belongs to occluder. 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": "5f7c8a3c9cdf7a1ecefef87db9a6d9198f739c98436bb9d4ef4b9acef6222c03", - "seed_mask_pixels": 215267, - "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": "2026-10-28T00:20:46Z" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/occluder/t0000_v01_seed_mask.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/occluder/t0000_v01_seed_mask.npz deleted file mode 100644 index a14cfa0a1ae2c476ff53ee6f5715346127b5cc80..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/annotations/prompts/17736741/occluder/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5f7c8a3c9cdf7a1ecefef87db9a6d9198f739c98436bb9d4ef4b9acef6222c03 -size 7125 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/grasp_import_17736741_v1.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/grasp_import_17736741_v1.json deleted file mode 100644 index a0c51e1243d7d033ba7cef3bde687b6be6d24698..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/grasp_import_17736741_v1.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "source_returned_worker": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/c6a_20261027/grasp_results_v1/233045/17736741/worker-1473979", - "case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741", - "serial": "17736741", - "frame_bundle_byte_equal": true, - "roles": [ - { - "role": "object", - "T": 338, - "supplier_runs": [ - 1 - ], - "current_prompt_seed_and_frame_binding_passed": true - }, - { - "role": "hand_A", - "T": 338, - "supplier_runs": [ - 1 - ], - "current_prompt_seed_and_frame_binding_passed": true - }, - { - "role": "hand_B", - "T": 338, - "supplier_runs": [ - 1 - ], - "current_prompt_seed_and_frame_binding_passed": true - }, - { - "role": "occluder", - "T": 338, - "supplier_runs": [ - 1 - ], - "current_prompt_seed_and_frame_binding_passed": true - } - ], - "media": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741/review_media_c6a_grasp_17736741_v1", - "owner_window_accepted": false, - "owner_masks_accepted": false -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspect.log b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspect.log deleted file mode 100644 index 88d76544054b5d59d44787c5699206eef0ceecfc..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspect.log +++ /dev/null @@ -1 +0,0 @@ -Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741/inspection/frames.npz and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741/inspection/inspection.json diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspect_command.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspect_command.json deleted file mode 100644 index 3d3ea62c283f471eef02eacabb460ce3c0c1f101..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspect_command.json +++ /dev/null @@ -1,15 +0,0 @@ -[ - "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python3", - "scripts/phystwin_real_rgbd.py", - "inspect", - "--session", - "/mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233045_819927", - "--window", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741/phystwin_window.yaml", - "--frame-association", - "anchor_nearest", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741/inspection", - "--sample-t", - "0" -] diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspection/frames.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspection/frames.npz deleted file mode 100644 index ba121974d5b5e4c8ad88a2c0b5b4d07d90593ce4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:df51a090ee96d08e991aea99c7dd0db26ccce3aaf7997b507751cd7550b2d7ee -size 84940 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspection/inspection.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspection/inspection.json deleted file mode 100644 index f992476ba47cce851f126ea04195e4c1da87250e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/inspection/inspection.json +++ /dev/null @@ -1,344 +0,0 @@ -{ - 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"samples": [ - { - "t": 0, - "serial": "12540311", - "converted_frame_index": 222, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 5001 - }, - "depth_zero_fraction": 0.03390576774691358, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.587, - 1.302, - 5.001 - ] - }, - { - "t": 0, - "serial": "12933256", - "converted_frame_index": 221, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 6441 - }, - "depth_zero_fraction": 0.030754726080246913, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.649, - 1.188, - 6.441 - ] - }, - { - "t": 0, - "serial": "17736741", - "converted_frame_index": 222, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 3666 - }, - "depth_zero_fraction": 0.02749710648148148, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.58, - 1.1520000000000001, - 3.666 - ] - }, - { - "t": 0, - "serial": "23007103", - "converted_frame_index": 221, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 5442 - }, - "depth_zero_fraction": 0.04648823302469136, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.48, - 1.08, - 5.442 - ] - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/hand_A/run0001_t0000-0338.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/hand_A/run0001_t0000-0338.npz deleted file mode 100644 index 498b28ec735d977f450621b7cf6e55ea7c5e868e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/hand_A/run0001_t0000-0338.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c9e305f467596dfb4cbd347282c6987a4c1bf1d12896e490e35779754cc05812 -size 455732 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/hand_B/run0001_t0000-0338.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/hand_B/run0001_t0000-0338.npz deleted file mode 100644 index 0b8233e9c52fdcf87a082c452d269d395b54e892..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/hand_B/run0001_t0000-0338.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:96bac388e88f0a1481a6bc1e84516e6fe6f19635186082b0c988faa9a39822c3 -size 87422 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/object/run0001_t0000-0338.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/object/run0001_t0000-0338.npz deleted file mode 100644 index aaaf9e59790f8d1801db5b05432087bdbd13f605..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/object/run0001_t0000-0338.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9759cb88baba708b56c721d2f6d8ba6a89f0a806c39b9108c4b4b4e03cdcfc0e -size 418632 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/occluder/run0001_t0000-0338.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/occluder/run0001_t0000-0338.npz deleted file mode 100644 index 3538fb408ef7a9d39255ec377836fc5d20987c35..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/masks/17736741/occluder/run0001_t0000-0338.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:734b6ec1564ea17be65f01b722e21e500bff63df49a4b67c8aff7120aed99aa2 -size 1629301 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/phystwin_window.yaml b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/phystwin_window.yaml deleted file mode 100644 index 14f48d00d44d76a87e8f91d6061b760a9384697d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/phystwin_window.yaml +++ /dev/null @@ -1,85 +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: '17736741' - anchor_stream_id: zed_17736741_left_rgb - timestamp_unit: ns - timestamp_reference: sync_time_ns - period_ns_estimate: 33461081 - fps_estimate: 29.885466 -manual_annotation: - start_global_timestamp_ns: 1790047878241971909 - end_global_timestamp_ns: 1790047889514031468 - start_condition: hand_or_forearm_visible_and_in_contact_with_object - end_condition: before_release_or_contact_break - expected_visible_hands_or_arms: 1 - object_description: bike chain - controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left - hand. Participating: hand_A' - annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed - interaction. Start: 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).' -resolved_window: - start_sync_index: 221 - end_sync_index_exclusive: 559 - start_anchor_timestamp_ns: 1790047878241971909 - end_anchor_timestamp_ns: 1790047889514031468 - frame_count: 338 - duration_s: 11.27206 -per_camera_resolution: - '12540311': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 559 - start_source_timestamp_ns: 1790047878247763130 - end_source_timestamp_ns: 1790047889520871268 - start_delta_ns: 5791221 - end_delta_ns: 6839800 - '12933256': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 558 - start_source_timestamp_ns: 1790047878246717440 - end_source_timestamp_ns: 1790047889520810248 - start_delta_ns: 4745531 - end_delta_ns: 6778780 - '17736741': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 560 - start_source_timestamp_ns: 1790047878241971909 - end_source_timestamp_ns: 1790047889514031468 - start_delta_ns: 0 - end_delta_ns: 0 - '23007103': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 559 - start_source_timestamp_ns: 1790047878237092072 - end_source_timestamp_ns: 1790047889510506431 - start_delta_ns: -4879837 - end_delta_ns: -3525037 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 6839800 - warnings: [] -created_by: manual -created_at: '2026-10-27T19:30:04+00:00' -updated_at: '2026-10-27T19:30:04+00:00' - diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/proposal_prompts_c6a_before_owner_sparse.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/proposal_prompts_c6a_before_owner_sparse.json deleted file mode 100644 index 5e13522a26c1bb74f48d6dbfc140a08ce186cb41..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/proposal_prompts_c6a_before_owner_sparse.json +++ /dev/null @@ -1,285 +0,0 @@ -{ - "proposer": "c6a_20261027", - "prompts": [ - { - "serial": "17736741", - "instance": "object", - "t": 0, - "points": [ - [ - 1074, - 573 - ], - [ - 1120, - 583 - ], - [ - 1163, - 597 - ], - [ - 1182, - 639 - ], - [ - 1193, - 684 - ], - [ - 1189, - 711 - ], - [ - 1155, - 730 - ], - [ - 1111, - 751 - ], - [ - 1074, - 784 - ], - [ - 1021, - 818 - ], - [ - 1002, - 821 - ], - [ - 966, - 807 - ], - [ - 952, - 769 - ], - [ - 972, - 730 - ], - [ - 982, - 697 - ], - [ - 991, - 653 - ], - [ - 1007, - 620 - ], - [ - 1043, - 584 - ], - [ - 1075, - 675 - ], - [ - 1100, - 720 - ], - [ - 1022, - 755 - ], - [ - 920, - 790 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0 - ], - "box": [ - 936, - 557, - 1211, - 839 - ], - "note": "Agent draft only; Visible chain links only; exclude loop interior/table, shadow and occluding right hand. Own converted frame 222." - }, - { - "serial": "17736741", - "instance": "hand_A", - "t": 0, - "points": [ - [ - 688, - 704 - ], - [ - 749, - 723 - ], - [ - 839, - 769 - ], - [ - 902, - 824 - ], - [ - 940, - 785 - ], - [ - 922, - 865 - ], - [ - 624, - 680 - ], - [ - 798, - 729 - ], - [ - 976, - 816 - ], - [ - 800, - 875 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0 - ], - "box": [ - 626, - 643, - 980, - 900 - ], - "note": "Agent draft only; Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, black sleeve, chain and robot." - }, - { - "serial": "17736741", - "instance": "occluder", - "t": 0, - "points": [ - [ - 45, - 25 - ], - [ - 40, - 150 - ], - [ - 150, - 400 - ], - [ - 350, - 530 - ], - [ - 550, - 650 - ], - [ - 708, - 717 - ], - [ - 880, - 817 - ], - [ - 430, - 330 - ], - [ - 300, - 300 - ], - [ - 600, - 400 - ], - [ - 250, - 700 - ], - [ - 970, - 650 - ], - [ - 750, - 900 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0 - ], - "box": [ - 0, - 0, - 980, - 900 - ], - "note": "Agent draft only; All visible person pixels including cropped head/torso, both sleeves, right arm/hand and resting left hand at the table edge. Left hand remains nonparticipating and belongs to occluder." - }, - { - "serial": "17736741", - "instance": "hand_B", - "t": 0, - "absence_stop": 338, - "note": "Agent draft absence over [0,338): only right bracelet hand_A participates; visible resting left hand is included in occluder. Not owner-reviewed." - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/proposal_prompts_c6a_sparse_v1.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/proposal_prompts_c6a_sparse_v1.json deleted file mode 100644 index 02d479bd98554e1741dcb811bb09d58f61d6cbb2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/proposal_prompts_c6a_sparse_v1.json +++ /dev/null @@ -1,135 +0,0 @@ -{ - "proposer": "c6a_20261027", - "prompts": [ - { - "serial": "17736741", - "instance": "object", - "t": 0, - "points": [ - [ - 1074, - 573 - ], - [ - 1193, - 684 - ], - [ - 1002, - 821 - ], - [ - 1075, - 675 - ], - [ - 920, - 790 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box": [ - 936, - 557, - 1211, - 839 - ], - "note": "Agent draft only; Visible chain links only; exclude loop interior/table, shadow and occluding right hand. 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." - }, - { - "serial": "17736741", - "instance": "hand_A", - "t": 0, - "points": [ - [ - 688, - 704 - ], - [ - 839, - 769 - ], - [ - 940, - 785 - ], - [ - 798, - 729 - ], - [ - 624, - 680 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box": [ - 626, - 643, - 980, - 900 - ], - "note": "Agent draft only; Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, black sleeve, chain and robot. Sparse owner-method revision: at most five total positive/negative points; whole-person occluder includes clothing and accessories. Agent draft only, pending preview and owner review." - }, - { - "serial": "17736741", - "instance": "occluder", - "t": 0, - "points": [ - [ - 45, - 25 - ], - [ - 150, - 400 - ], - [ - 430, - 330 - ], - [ - 798, - 729 - ], - [ - 350, - 100 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 0 - ], - "box": [ - 0, - 0, - 980, - 900 - ], - "note": "Agent draft only; All visible person pixels including cropped head/torso, both sleeves, right arm/hand and resting left hand at the table edge. Left hand remains nonparticipating and belongs to occluder. 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." - }, - { - "serial": "17736741", - "instance": "hand_B", - "t": 0, - "absence_stop": 338, - "note": "Agent draft absence over [0,338): only right bracelet hand_A participates; visible resting left hand is included in occluder. Not owner-reviewed." - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/window_command.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/window_command.json deleted file mode 100644 index 673caed99ae057fb461b43ac8c73d11f25419f7a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/17736741/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_233045_819927", - "--anchor-serial", - "17736741", - "--start-timestamp-ns", - "1790047878241971909", - "--end-timestamp-ns", - "1790047889514031468", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "bike chain", - "--controller-description", - "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A", - "--notes", - "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start: 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).", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/17736741/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json deleted file mode 100644 index fed4392a2f4defb7f3cb6c41538ea3a212ecb19f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "95203e1861f9bc39f5608fd937f7373399a7f6c24321ca415c91038bd5f72478", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 220, - 558 - ], - "anchor_time_ns_first_last": [ - 1790047878237092072, - 1790047889510506431 - ] - }, - "serial": "23007103", - "view_index": 3, - "instance": "hand_A", - "frame": { - "t": 0, - "sync_index": 220, - "converted_frame_index": 221, - "official_frame_index": 221, - "native_container_frame_index": 222, - "view_time_ns": 1790047878237092072 - }, - "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": [ - [ - 1052.0, - 327.0 - ], - [ - 987.0, - 391.0 - ], - [ - 919.0, - 443.0 - ], - [ - 1022.0, - 357.0 - ], - [ - 1111.0, - 320.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 890.0, - 280.0, - 1115.0, - 480.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, sleeve, chain and visible table between pinching fingers. 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": "4408af9b1ec81939e8b23290a2a309fcfabe7481fb00d3ee99572aeea5dd98f6", - "seed_mask_pixels": 11838, - "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": "2026-10-28T00:22:27Z" -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01_seed_mask.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01_seed_mask.npz deleted file mode 100644 index 8ad0df3923d5dd77ff35d669d98f1587e0046735..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/hand_A/t0000_v01_seed_mask.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4408af9b1ec81939e8b23290a2a309fcfabe7481fb00d3ee99572aeea5dd98f6 -size 1860 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/hand_B/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/hand_B/t0000_v01.json deleted file mode 100644 index a6e81c8ecc9d7ae6b7be9e227ffed5770f7b37bf..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/hand_B/t0000_v01.json +++ /dev/null @@ -1,55 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "95203e1861f9bc39f5608fd937f7373399a7f6c24321ca415c91038bd5f72478", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 220, - 558 - ], - "anchor_time_ns_first_last": [ - 1790047878237092072, - 1790047889510506431 - ] - }, - "serial": "23007103", - "view_index": 3, - "instance": "hand_B", - "frame": { - "t": 0, - "sync_index": 220, - "converted_frame_index": 221, - "official_frame_index": 221, - "native_container_frame_index": 222, - "view_time_ns": 1790047878237092072 - }, - "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 [0,338): only right bracelet hand_A participates; visible resting left hand 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": "2026-10-28T00:22:27Z", - "reviewed_absence_half_open": [ - 0, - 338 - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/object/t0000_v01.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/object/t0000_v01.json deleted file mode 100644 index 6b1cee7d76d40747a8d8ddc8b044f59dc57c89f7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/annotations/prompts/23007103/object/t0000_v01.json +++ /dev/null @@ -1,104 +0,0 @@ -{ - "schema": "real_rgbd_instance_prompt_v1", - "binding": { - "session_id": "session_20260921_233045_819927", - "window_sha256": "95203e1861f9bc39f5608fd937f7373399a7f6c24321ca415c91038bd5f72478", - "serials": [ - "12540311", - "12933256", - "17736741", - "23007103" - ], - "sync_index_half_open": [ - 220, - 558 - ], - "anchor_time_ns_first_last": [ - 1790047878237092072, - 1790047889510506431 - ] - }, - "serial": "23007103", - "view_index": 3, - "instance": "object", - "frame": { - "t": 0, - "sync_index": 220, - "converted_frame_index": 221, - "official_frame_index": 221, - "native_container_frame_index": 222, - "view_time_ns": 1790047878237092072 - }, - "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": [ - [ - 945.0, - 478.0 - ], - [ - 1107.0, - 582.0 - ], - [ - 948.0, - 592.0 - ], - [ - 1000.0, - 550.0 - ], - [ - 936.0, - 454.0 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box_uv": [ - 902.0, - 463.0, - 1126.0, - 631.0 - ], - "source": "agent:c6a_20261027", - "note": "Agent draft only; Visible chain links only; exclude loop interior, table, shadows and right fingers. Own converted frame 221. Sparse owner-method revision: at most five total positive/negative points; whole-person occluder includes clothing and accessories. 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"samples": [ - { - "t": 0, - "serial": "12540311", - "converted_frame_index": 222, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 5001 - }, - "depth_zero_fraction": 0.03390576774691358, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.587, - 1.302, - 5.001 - ] - }, - { - "t": 0, - "serial": "12933256", - "converted_frame_index": 221, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 6441 - }, - "depth_zero_fraction": 0.030754726080246913, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.649, - 1.188, - 6.441 - ] - }, - { - "t": 0, - "serial": "17736741", - "converted_frame_index": 222, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 3666 - }, - "depth_zero_fraction": 0.02749710648148148, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.58, - 1.1520000000000001, - 3.666 - ] - }, - { - "t": 0, - "serial": "23007103", - "converted_frame_index": 221, - "rgb": { - "dtype": "uint8", - "shape": [ - 1080, - 1920, - 3 - ] - }, - "depth_raw": { - "dtype": "uint16", - "shape": [ - 1080, - 1920 - ], - "min": 0, - "max": 5442 - }, - "depth_zero_fraction": 0.04648823302469136, - "depth_saturated_count": 0, - "depth_valid_m_min_median_max": [ - 0.48, - 1.08, - 5.442 - ] - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/hand_A/run0001_t0000-0338.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/hand_A/run0001_t0000-0338.npz deleted file mode 100644 index 484a23f7f707bc460c417d9a48753852094b6ab9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/hand_A/run0001_t0000-0338.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5802ea23f9d1e4c27d23d8b557c99774b3396ab591a390c574ddd8f816b23af5 -size 366805 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/hand_B/run0001_t0000-0338.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/hand_B/run0001_t0000-0338.npz deleted file mode 100644 index 68724fbb7b460005b00adc7ae55efcacbb69b1f3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/hand_B/run0001_t0000-0338.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a45b5af8b86a2f4c8b4e2a88bd8d8002c1eb9ba5084776867d3298508ed64ffd -size 87426 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/object/run0001_t0000-0338.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/object/run0001_t0000-0338.npz deleted file mode 100644 index c3e7bc8f43b4b180571d87ea6f87ac090a41043e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/object/run0001_t0000-0338.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5991290a9bc08bb613f7241ff13cffcf3c78326655e71b62c83a7f6ff78f5501 -size 383723 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/occluder/run0001_t0000-0338.npz b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/occluder/run0001_t0000-0338.npz deleted file mode 100644 index a6c5643d983b2f0287f431b08009d89ed29eade1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/masks/23007103/occluder/run0001_t0000-0338.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a733efd0f73be2863c9eee90b9f999713842640a908889c434d913b2c5bee652 -size 1342074 diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/phystwin_window.yaml b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/phystwin_window.yaml deleted file mode 100644 index b0f28f65557dea4b8515d40ca61618cec06591d2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/phystwin_window.yaml +++ /dev/null @@ -1,85 +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: '23007103' - anchor_stream_id: zed_23007103_left_rgb - timestamp_unit: ns - timestamp_reference: sync_time_ns - period_ns_estimate: 33455045 - fps_estimate: 29.890858 -manual_annotation: - start_global_timestamp_ns: 1790047878237092072 - end_global_timestamp_ns: 1790047889510506431 - start_condition: hand_or_forearm_visible_and_in_contact_with_object - end_condition: before_release_or_contact_break - expected_visible_hands_or_arms: 1 - object_description: bike chain - controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left - hand. Participating: hand_A' - annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed - interaction. Start: 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).' -resolved_window: - start_sync_index: 220 - end_sync_index_exclusive: 558 - start_anchor_timestamp_ns: 1790047878237092072 - end_anchor_timestamp_ns: 1790047889510506431 - frame_count: 338 - duration_s: 11.273414 -per_camera_resolution: - '12540311': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 559 - start_source_timestamp_ns: 1790047878247763130 - end_source_timestamp_ns: 1790047889520871268 - start_delta_ns: 10671058 - end_delta_ns: 10364837 - '12933256': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 558 - start_source_timestamp_ns: 1790047878246717440 - end_source_timestamp_ns: 1790047889520810248 - start_delta_ns: 9625368 - end_delta_ns: 10303817 - '17736741': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 560 - start_source_timestamp_ns: 1790047878241971909 - end_source_timestamp_ns: 1790047889514031468 - start_delta_ns: 4879837 - end_delta_ns: 3525037 - '23007103': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 559 - start_source_timestamp_ns: 1790047878237092072 - end_source_timestamp_ns: 1790047889510506431 - start_delta_ns: 0 - end_delta_ns: 0 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 10671058 - warnings: [] -created_by: manual -created_at: '2026-10-27T19:30:25+00:00' -updated_at: '2026-10-27T19:30:25+00:00' - diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/proposal_prompts_c6a_before_owner_sparse.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/proposal_prompts_c6a_before_owner_sparse.json deleted file mode 100644 index f8ac7eeeee13842ff094ffd7670af9949c36a98e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/proposal_prompts_c6a_before_owner_sparse.json +++ /dev/null @@ -1,265 +0,0 @@ -{ - "proposer": "c6a_20261027", - "prompts": [ - { - "serial": "23007103", - "instance": "object", - "t": 0, - "points": [ - [ - 945, - 478 - ], - [ - 977, - 487 - ], - [ - 1022, - 517 - ], - [ - 1075, - 538 - ], - [ - 1103, - 554 - ], - [ - 1107, - 582 - ], - [ - 1085, - 603 - ], - [ - 1040, - 614 - ], - [ - 989, - 604 - ], - [ - 948, - 592 - ], - [ - 930, - 575 - ], - [ - 929, - 543 - ], - [ - 920, - 515 - ], - [ - 917, - 493 - ], - [ - 1000, - 550 - ], - [ - 1020, - 582 - ], - [ - 954, - 527 - ], - [ - 936, - 454 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0 - ], - "box": [ - 902, - 463, - 1126, - 631 - ], - "note": "Agent draft only; Visible chain links only; exclude loop interior, table, shadows and right fingers. Own converted frame 221." - }, - { - "serial": "23007103", - "instance": "hand_A", - "t": 0, - "points": [ - [ - 1052, - 327 - ], - [ - 1085, - 310 - ], - [ - 987, - 391 - ], - [ - 939, - 415 - ], - [ - 919, - 443 - ], - [ - 963, - 449 - ], - [ - 1022, - 357 - ], - [ - 1111, - 320 - ], - [ - 955, - 419 - ], - [ - 948, - 479 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0 - ], - "box": [ - 890, - 280, - 1115, - 480 - ], - "note": "Agent draft only; Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, sleeve, chain and visible table between pinching fingers." - }, - { - "serial": "23007103", - "instance": "occluder", - "t": 0, - "points": [ - [ - 1300, - 190 - ], - [ - 1450, - 200 - ], - [ - 1590, - 200 - ], - [ - 1150, - 270 - ], - [ - 990, - 390 - ], - [ - 937, - 443 - ], - [ - 1510, - 410 - ], - [ - 1560, - 445 - ], - [ - 1200, - 430 - ], - [ - 1480, - 470 - ], - [ - 1700, - 300 - ], - [ - 800, - 320 - ], - [ - 1010, - 555 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 1, - 0, - 0, - 0, - 0, - 0 - ], - "box": [ - 890, - 0, - 1700, - 480 - ], - "note": "Agent draft only; All visible person pixels: cropped body, both sleeves, active right arm and left hand resting on the table edge. Exclude robot, chain and table." - }, - { - "serial": "23007103", - "instance": "hand_B", - "t": 0, - "absence_stop": 338, - "note": "Agent draft absence over [0,338): only right bracelet hand_A participates; visible resting left hand is included in occluder. Not owner-reviewed." - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/proposal_prompts_c6a_sparse_v1.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/proposal_prompts_c6a_sparse_v1.json deleted file mode 100644 index c18c7c9d0182e659745904f0aa19a589c91aa259..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/proposal_prompts_c6a_sparse_v1.json +++ /dev/null @@ -1,135 +0,0 @@ -{ - "proposer": "c6a_20261027", - "prompts": [ - { - "serial": "23007103", - "instance": "object", - "t": 0, - "points": [ - [ - 945, - 478 - ], - [ - 1107, - 582 - ], - [ - 948, - 592 - ], - [ - 1000, - 550 - ], - [ - 936, - 454 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box": [ - 902, - 463, - 1126, - 631 - ], - "note": "Agent draft only; Visible chain links only; exclude loop interior, table, shadows and right fingers. Own converted frame 221. 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." - }, - { - "serial": "23007103", - "instance": "hand_A", - "t": 0, - "points": [ - [ - 1052, - 327 - ], - [ - 987, - 391 - ], - [ - 919, - 443 - ], - [ - 1022, - 357 - ], - [ - 1111, - 320 - ] - ], - "labels": [ - 1, - 1, - 1, - 0, - 0 - ], - "box": [ - 890, - 280, - 1115, - 480 - ], - "note": "Agent draft only; Right bracelet hand: bare forearm, hand and fingers; exclude bracelet, sleeve, chain and visible table between pinching fingers. 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." - }, - { - "serial": "23007103", - "instance": "occluder", - "t": 0, - "points": [ - [ - 1300, - 190 - ], - [ - 1590, - 200 - ], - [ - 1560, - 445 - ], - [ - 1022, - 357 - ], - [ - 937, - 443 - ] - ], - "labels": [ - 1, - 1, - 1, - 1, - 1 - ], - "box": [ - 890, - 0, - 1700, - 480 - ], - "note": "Agent draft only; All visible person pixels: cropped body, both sleeves, active right arm and left hand resting on the table edge. Exclude robot, chain and table. 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." - }, - { - "serial": "23007103", - "instance": "hand_B", - "t": 0, - "absence_stop": 338, - "note": "Agent draft absence over [0,338): only right bracelet hand_A participates; visible resting left hand is included in occluder. Not owner-reviewed." - } - ] -} diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/window_command.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/window_command.json deleted file mode 100644 index b1a6efd178d79c6f17e8b2031c3b82d9aa63e42c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/cameras/23007103/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_233045_819927", - "--anchor-serial", - "23007103", - "--start-timestamp-ns", - "1790047878237092072", - "--end-timestamp-ns", - "1790047889510506431", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "bike chain", - "--controller-description", - "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A", - "--notes", - "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start: 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).", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/cameras/23007103/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/phystwin_window.yaml b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/phystwin_window.yaml deleted file mode 100644 index 683210ebbd946b591f1dc4ad48238e2788c98279..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/phystwin_window.yaml +++ /dev/null @@ -1,85 +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: 1790047878247763130 - end_global_timestamp_ns: 1790047889520871268 - start_condition: hand_or_forearm_visible_and_in_contact_with_object - end_condition: before_release_or_contact_break - expected_visible_hands_or_arms: 1 - object_description: bike chain - controller_description: 'hand_A = person''s right hand, bracelet; hand_B = left - hand. Participating: hand_A' - annotator_notes: 'C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed - interaction. Start: 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).' -resolved_window: - start_sync_index: 221 - end_sync_index_exclusive: 558 - start_anchor_timestamp_ns: 1790047878247763130 - end_anchor_timestamp_ns: 1790047889520871268 - frame_count: 337 - duration_s: 11.273108 -per_camera_resolution: - '12540311': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 559 - start_source_timestamp_ns: 1790047878247763130 - end_source_timestamp_ns: 1790047889520871268 - start_delta_ns: 0 - end_delta_ns: 0 - '12933256': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 558 - start_source_timestamp_ns: 1790047878246717440 - end_source_timestamp_ns: 1790047889520810248 - start_delta_ns: -1045690 - end_delta_ns: -61020 - '17736741': - start_source_frame_index: 222 - end_source_frame_index_exclusive: 560 - start_source_timestamp_ns: 1790047878241971909 - end_source_timestamp_ns: 1790047889514031468 - start_delta_ns: -5791221 - end_delta_ns: -6839800 - '23007103': - start_source_frame_index: 221 - end_source_frame_index_exclusive: 559 - start_source_timestamp_ns: 1790047878237092072 - end_source_timestamp_ns: 1790047889510506431 - start_delta_ns: -10671058 - end_delta_ns: -10364837 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 10671058 - warnings: [] -created_by: manual -created_at: '2026-10-27T19:29:17+00:00' -updated_at: '2026-10-27T19:29:17+00:00' - diff --git a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/window_command.json b/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/native/window_command.json deleted file mode 100644 index f535935bb02e03931ac630ab62a14f0444446a53..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233045_819927/preprocessing/mask-supplier-window_anchor0222-0558/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_233045_819927", - "--anchor-serial", - "12540311", - "--start-timestamp-ns", - "1790047878247763130", - "--end-timestamp-ns", - "1790047889520871268", - "--expected-visible-hands-or-arms", - "1", - "--object-description", - "bike chain", - "--controller-description", - "hand_A = person's right hand, bracelet; hand_B = left hand. Participating: hand_A", - "--notes", - "C6a AGENT PROPOSAL, NOT owner accepted. Continue C1 exact proposed interaction. Start: 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).", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233045_819927/window_anchor0222-0558/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/C6A_REVIEW.md b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/C6A_REVIEW.md deleted file mode 100644 index 04df99f51c12060df22df00dc5ee163aaa2a87dd..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/C6A_REVIEW.md +++ /dev/null @@ -1,84 +0,0 @@ -# session_20260921_233144_367389: 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: **268–673 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 | 0–405 | 268–673 | 269–674 | 1790047938700151856 / 1790047952247381484 | -| 12933256 | 0–405 | 268–673 | 269–674 | 1790047938718969257 / 1790047952259195319 | -| 17736741 | 0–405 | 268–673 | 269–674 | 1790047938706187642 / 1790047952252309276 | -| 23007103 | 0–406 | 267–673 | 268–674 | 1790047938683572557 / 1790047952263859826 | - -[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_233144_367389/window_anchor0195-0682/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. - -The small visible object sliver at camera12540311 converted584 (new local316) remains omitted. Corrected larger dropouts at converted520 and585 are retained. The selected end is673. - -[Completed reference review](accepted_input_preparation_c6a_v1/review_v1/REVIEW.md): initial evidence supports current C2 prior construction; camera125 long zero-support intervals and later isolated points remain disclosed. Prior preparation is running; owner acceptance remains separate. - -Owner chose18controls and curvature5e-9 for this chain on2026-10-28; the completed candidate still requires its own acceptance. - -## Requested18-control prior review - -The numerical and visual review is complete. [Review packet](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md) retains mixed small residual changes, soft-length excess2.702mm and later reference limitations. Owner prior acceptance is pending. - -## Owner prior decision - -On 2026-10-28 the owner accepted this exact18-control prior for mechanical inputs and static appearance training. Appearance and physical fitting remain separate. - -## 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_233144_367389/annotations/windows/window_anchor0268-0673/native/mask_review_selection.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/mask_review_selection.json deleted file mode 100644 index 0017cc05643f423383daa8ec2c2727252fa1a163..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/mask_review_selection.json +++ /dev/null @@ -1,1785 +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_233144_367389/window_anchor0268-0673/owner_window_decision.json", - "previous_packet": { - "session_id": "session_20260921_233144_367389", - "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": "195-682", - "T": "488", - "per_camera_counts": "488/488/488/489", - "rectangular": "false", - "participating_hands": "hand_A", - "alternatives": "195-679", - "masks": "not yet proposed", - "case_dir": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682", - "status": "window proposed; pending owner review", - "source_proposal": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_proposal_c1/proposal.json", - "current_proposal": { - "start_anchor_frame": 195, - "end_anchor_frame_inclusive": 682, - "start_ns": 1790047936258160741, - "end_ns": 1790047952548333550, - "rationale": "Start: hand enters ~179; fingertips reach the near/lower-left strand at ~193 and are on it by 195 in 17736741, 12540311 and 12933256 (start_17736741_stride1_176-200.jpg, boundary_start_a195.jpg). End: after put-down the hand holds the chain end static on the table through 682; at 683 the hand moves away (blur) and by 684 a gap is visible and the formerly covered chain end is exposed (end_12540311_stride1_672-696.jpg)." - }, - "amendment": null, - "owner_accepted": false, - "products": [ - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/12540311", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/12540311/inspection/frames.npz", - "serials": [ - "12540311" - ], - "T": 488, - "use": "proposal only; own camera column only; C1a required" - }, - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/12933256", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/12933256/inspection/frames.npz", - "serials": [ - "12933256" - ], - "T": 488, - "use": "proposal only; own camera column only; C1a required" - }, - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/17736741", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/17736741/inspection/frames.npz", - "serials": [ - "17736741" - ], - "T": 488, - "use": "proposal only; own camera column only; C1a required" - }, - { - "root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/23007103", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/23007103/inspection/frames.npz", - "serials": [ - "23007103" - ], - "T": 489, - "use": "proposal only; own camera column only; C1a required" - } - ] - }, - "cameras": [ - { - "serial": "12540311", - "view_index": 0, - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/12540311/inspection/frames.npz", - "source_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/12540311/inspection/frames.npz", - "source_mask_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/12540311", - "source_rows": [ - 73, - 74, - 75, - 76, - 77, - 78, - 79, - 80, - 81, - 82, - 83, - 84, - 85, - 86, - 87, - 88, - 89, - 90, - 91, - 92, - 93, - 94, - 95, - 96, - 97, - 98, - 99, - 100, - 101, - 102, - 103, - 104, - 105, - 106, - 107, - 108, - 109, - 110, - 111, - 112, - 113, - 114, - 115, - 116, - 117, - 118, - 119, - 120, - 121, - 122, - 123, - 124, - 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411, - 412, - 413, - 414, - 415, - 416, - 417, - 418, - 419, - 420, - 421, - 422, - 423, - 424, - 425, - 426, - 427, - 428, - 429, - 430, - 431, - 432, - 433, - 434, - 435, - 436, - 437, - 438, - 439, - 440, - 441, - 442, - 443, - 444, - 445, - 446, - 447, - 448, - 449, - 450, - 451, - 452, - 453, - 454, - 455, - 456, - 457, - 458, - 459, - 460, - 461, - 462, - 463, - 464, - 465, - 466, - 467, - 468, - 469, - 470, - 471, - 472, - 473, - 474, - 475, - 476, - 477, - 478 - ], - "missing_selected_rows": [], - "converted_first_last": [ - 268, - 673 - ], - "native_first_last": [ - 269, - 674 - ], - "capture_time_ns_first_last": [ - 1790047938700151856, - 1790047952247381484 - ], - "exact_own_capture_fields_verified": true - }, - { - "serial": "12933256", - "view_index": 1, - "selected_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/12933256/inspection/frames.npz", - "source_frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682/cameras/12933256/inspection/frames.npz", - 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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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12540311/review_signoff_occluder.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12540311/review_signoff_occluder.json deleted file mode 100644 index 99364decd77334390f0e8393788e3eb425193e42..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12540311/review_signoff_occluder.json +++ /dev/null @@ -1,1291 +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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12933256/inspection/frames.npz b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12933256/inspection/frames.npz deleted file mode 100644 index c94bd52ab2680c9bd3f1ff98867f51b2f9fa8ed4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12933256/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:09de8a0b07f1bcc209fb32e0feedb7b9a874f2128fb9af6fac1d0f5327589a5e -size 99596 diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12933256/review_signoff.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12933256/review_signoff.json deleted file mode 100644 index 211765c125b5d886a34194693b3e02e959188618..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12933256/review_signoff.json +++ /dev/null @@ -1,3787 +0,0 @@ -{ - 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} - ] - } - ], - "covered_frames": 406, - "visible_frames": 0 - } - ], - "reviewed_by": "owner", - "decision": "accept", - "date": "2026-10-28T16:31:03Z", - "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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12933256/review_signoff_occluder.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12933256/review_signoff_occluder.json deleted file mode 100644 index 1fc84dd1d6994decc1da2059de7c0eff7f0ce5b7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/12933256/review_signoff_occluder.json +++ /dev/null @@ -1,1287 +0,0 @@ -{ - 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"visible_frames": 406 - } - ], - "reviewed_by": "owner", - "decision": "accept", - "date": "2026-10-28T16:31:06Z", - "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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} - ] - } - ], - "covered_frames": 406, - "visible_frames": 0 - } - ], - "reviewed_by": "owner", - "decision": "accept", - "date": "2026-10-28T16:31:08Z", - "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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/17736741/review_signoff_occluder.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/17736741/review_signoff_occluder.json deleted file mode 100644 index 283359aa2a00e28e5065a4d2d47fa81505a3639e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/17736741/review_signoff_occluder.json +++ /dev/null @@ -1,1287 +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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/23007103/inspection/frames.npz b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/23007103/inspection/frames.npz deleted file mode 100644 index 597b8d76b688c0dc2ed315f8d0e5d68e82dab05f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/23007103/inspection/frames.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:28ddc51f544d5b8a75f4ba26662e5715d5422b0aabf4ac0928f80924c2c426ff -size 99808 diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/23007103/review_signoff.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/23007103/review_signoff.json deleted file mode 100644 index 856b2bb2a934f16e677ff24ba69844614b07f153..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/23007103/review_signoff.json +++ /dev/null @@ -1,3796 +0,0 @@ -{ - 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} - ] - } - ], - "covered_frames": 407, - "visible_frames": 0 - } - ], - "reviewed_by": "owner", - "decision": "accept", - "date": "2026-10-28T16:31:12Z", - "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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/C6A_REVIEW.md", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/review_tiled_c6a_20261028/media_index.json", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/mask_review_selection.json" - ], - "code": "5e1b4258a3efb3620c533a4073a37212d8bf9ee5" -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/23007103/review_signoff_occluder.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/23007103/review_signoff_occluder.json deleted file mode 100644 index feafc0a31c23b8532fb6228e58c01f75424dc69d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/cameras/23007103/review_signoff_occluder.json +++ /dev/null @@ -1,1290 +0,0 @@ -{ - 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"intrinsics_source": "metadata/calibration.json camera_intrinsics at the recorded stream size", - "calibration": { - "package_dir": "metadata/calibration_package", - "world_frame": "table", - "pose_source": "phase_05_final", - "final_transform_source": "combined_fixed_movable_ba", - "source_run_name": "20260921_200440", - "candidate_pose_set_name": "fixed020_movable1", - "world_T_camera_bundle": "world_T_camera_by_serial.npz", - "world_T_camera_bundle_sha256": "2bcc404a8e3c4315527d0573dfdecaac7feec797a2b8cb5b581fbe9f94fbf8d5" - }, - "owning_serial": "23007103" - } - } - ], - "non_own_columns": "review metadata only; tracking and lifting consume each owning view" -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/per_camera_inputs.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/per_camera_inputs.json deleted file mode 100644 index f3b58159838126fd6f0a86cfb08e76b42bb133d2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/native_inputs/per_camera_inputs.json +++ /dev/null @@ -1,33 +0,0 @@ -{ - 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"frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/17736741/inspection/frames.npz", - "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/17736741" - }, - { - "view_index": 3, - "serial": "23007103", - "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/23007103/inspection/frames.npz", - "result_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/23007103" - } - ] -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_appearance_acceptance_c6a_v1.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_appearance_acceptance_c6a_v1.json deleted file mode 100644 index f9e6bf1d20e95e011066113e7d2a7e61f4f11791..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_appearance_acceptance_c6a_v1.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "requested_utc": "2026-10-28T23:42:05.250524+00:00", - "appearance_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/stronger_reprojection_preparation_v2/appearance_train_v1/model/point_cloud/iteration_10000/point_cloud.ply", - "final_ply_sha256": "d7d1ddd9c652566a3b4456d36d2f3d3c2a271bac24718fdbb68ee4c9bc9f3549", - "prior_manifest_sha256": "c08185dfbe5e2de494215c85012d805b214a7043616be236a9cc2e284c2716d4", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/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": "2026-10-29T14:05:19.277561+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_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_chain_fit_settings_20261028.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_chain_fit_settings_20261028.json deleted file mode 100644 index e38ebd7775a4fb1bac15bb02a7d122608b51c9aa..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_chain_fit_settings_20261028.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "owner_text": "Use 18 controls and 5e-9 for both", - "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]", - "recorded_utc": "2026-10-28T22:07:04.693454+00:00", - "control_count": 18, - "lambda_curvature_cost": 5e-09, - "settings_source": "233248 variant B", - "scope": "Prepare233144 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.", - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_inspect.log b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_inspect.log deleted file mode 100644 index a20e650b671269580d5dff315404b1b0a182ccf0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_inspect.log +++ /dev/null @@ -1 +0,0 @@ -Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/per_camera_inputs.json and /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/inspection.json diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_inspect_argv.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_inspect_argv.json deleted file mode 100644 index b021c770a50ff1ed9c28f7980800f7607dd323f4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/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_233144_367389", - "--window", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/phystwin_window.yaml", - "--per-camera", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs" -] diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_mask_acceptance_c6a_selected_20261028.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_mask_acceptance_c6a_selected_20261028.json deleted file mode 100644 index 5f4280ec6d8f8ae02365829dcc2997b92a249243..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/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": [ - 268, - 673 - ], - "participating_hands": [ - "hand_A" - ], - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/C6A_REVIEW.md", - "review_media": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/review_tiled_c6a_20261028/media_index.json", - "selection": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/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_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_prior_acceptance_c6a_v1.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_prior_acceptance_c6a_v1.json deleted file mode 100644 index de9a70b2cc24d0ccbaaad5e67bf653d2df68551f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2", - "prior_manifest_sha256": "c08185dfbe5e2de494215c85012d805b214a7043616be236a9cc2e284c2716d4", - "mesh_sha256": "879abae9c573ae63397ef907c6db251aa72b89bf9ff3319fff21b075f2b92463", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/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_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_prior_acceptance_revoked_20261028.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_prior_acceptance_revoked_20261028.json deleted file mode 100644 index e8ba0a3168d57d539fb4de00240502ea00059773..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_prior_acceptance_revoked_20261028.json +++ /dev/null @@ -1,10 +0,0 @@ -{ - "owner_text": "Accept 233144\u2019s revised prior", - "question_item_id": "[\"request_user_input_async\",\"call_165b367567af4f349f4b2a344b486a45\",0]", - "recorded_utc": "2026-10-28T22:22:36.520734+00:00", - "scope": "Accept this reviewed18-control, curvature5e-9 prior for mechanical input preparation and reference static appearance training, retaining soft-length excess and hidden-arc limitations. Later observation quality, appearance acceptance and physical fitting remain separate.", - "prior_root": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "prior_manifest_sha256": "44d944a5d07bb7a385b346ba916e745083d00a032b3dd560a53a18e4afc16007", - "mesh_sha256": "6684bd8b1a51a67bc36b716fdd41cc0ad017a5b38be32c22936b4d2df016194f", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_review_m18_lowcurvature_v1/PRIOR_REVIEW_c6a_v1.md" -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_prior_review_request_m18_c6a_v1.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_prior_review_request_m18_c6a_v1.json deleted file mode 100644 index ca704d01fd482ec7386c675b0b050fb96a3780e4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_prior_review_request_m18_c6a_v1.json +++ /dev/null @@ -1,14 +0,0 @@ -{ - "requested_utc": "2026-10-28T22:20:12.684801+00:00", - "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "manifest_sha256": "44d944a5d07bb7a385b346ba916e745083d00a032b3dd560a53a18e4afc16007", - "mesh_sha256": "6684bd8b1a51a67bc36b716fdd41cc0ad017a5b38be32c22936b4d2df016194f", - "review_packet": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/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_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_prior_revocation_20261028.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_prior_revocation_20261028.json deleted file mode 100644 index d88f55e5e75b990231eeb484aabf1685db0777df..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673", - "previous_acceptance_record_present": true -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_window.log b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_window.log deleted file mode 100644 index 2a9cab86fc3961db88d1c9beb6f65dfa95017b22..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_window.log +++ /dev/null @@ -1,3 +0,0 @@ -Warnings: - - 12933256: start camera delta 18817401 ns exceeds half period 16724343 ns -Wrote /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/phystwin_window.yaml diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_window_argv.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_window_argv.json deleted file mode 100644 index dfe7864026f28adb99fdc510aea34cc22e3ab535..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/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_233144_367389", - "--anchor-serial", - "12540311", - "--start-timestamp-ns", - "1790047938700151856", - "--end-timestamp-ns", - "1790047952247381484", - "--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 268-673 inclusive on 2026-10-28. Masks remain unapproved.", - "--output-path", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/phystwin_window.yaml" -] diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_window_decision.json b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/owner_window_decision.json deleted file mode 100644 index 5f12a4ca5f7a94c110338f8a74b7a1f4bedd5bff..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/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": [ - 268, - 673 - ], - "mask_acceptance": "pending", - "previous_case": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0195-0682" -} diff --git a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/phystwin_window.yaml b/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/phystwin_window.yaml deleted file mode 100644 index 591cfe0021bb09285a979d6aea74a739adf27a05..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/annotations/windows/window_anchor0268-0673/native/phystwin_window.yaml +++ /dev/null @@ -1,82 +0,0 @@ -schema_version: 1 -kind: phystwin_interaction_window -session: - path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233144_367389 - session_id: session_20260921_233144_367389 -annotation_interface: - method: rerun - rerun_timeline: sync_time_ns - rerun_launch_command: uv run --no-sync python -m dataset_converter.visualize_rerun - --session-path /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260921_233144_367389 - --sensor-types zed - timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the - current integer-nanosecond timestamp at the desired start/end moments. - notes: '' -timebase: - policy: native_anchor_overlap - sync_policy: AnchorStreamSyncPolicy - overlap: true - anchor_serial: '12540311' - anchor_stream_id: zed_12540311_left_rgb - timestamp_unit: ns - timestamp_reference: sync_time_ns - period_ns_estimate: 33448686 - fps_estimate: 29.896541 -manual_annotation: - start_global_timestamp_ns: 1790047938700151856 - end_global_timestamp_ns: 1790047952247381484 - 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 268-673 inclusive - on 2026-10-28. Masks remain unapproved. -resolved_window: - start_sync_index: 267 - end_sync_index_exclusive: 673 - start_anchor_timestamp_ns: 1790047938700151856 - end_anchor_timestamp_ns: 1790047952247381484 - frame_count: 406 - duration_s: 13.54723 -per_camera_resolution: - '12540311': - start_source_frame_index: 268 - end_source_frame_index_exclusive: 674 - start_source_timestamp_ns: 1790047938700151856 - end_source_timestamp_ns: 1790047952247381484 - start_delta_ns: 0 - end_delta_ns: 0 - '12933256': - start_source_frame_index: 268 - end_source_frame_index_exclusive: 674 - start_source_timestamp_ns: 1790047938718969257 - end_source_timestamp_ns: 1790047952259195319 - start_delta_ns: 18817401 - end_delta_ns: 11813835 - '17736741': - start_source_frame_index: 268 - end_source_frame_index_exclusive: 674 - start_source_timestamp_ns: 1790047938706187642 - end_source_timestamp_ns: 1790047952252309276 - start_delta_ns: 6035786 - end_delta_ns: 4927792 - '23007103': - start_source_frame_index: 267 - end_source_frame_index_exclusive: 674 - start_source_timestamp_ns: 1790047938683572557 - end_source_timestamp_ns: 1790047952263859826 - start_delta_ns: -16579299 - end_delta_ns: 16478342 -validation: - within_all_camera_overlap: true - start_before_end: true - min_abs_camera_delta_ns: 0 - max_abs_camera_delta_ns: 18817401 - warnings: - - '12933256: start camera delta 18817401 ns exceeds half period 16724343 ns' -created_by: manual -created_at: '2026-10-28T14:40:02+00:00' -updated_at: '2026-10-28T14:40:02+00:00' - diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/colors/color_summary.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/colors/color_summary.json deleted file mode 100644 index 4dc835f9ebacbd9841bae37c9ef57e67ea5f1cc0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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": 611, - "projected_inside": 1728, - "first_hit": 922 - }, - { - "view": 1, - "serial": "12933256", - "observed_vertices": 686, - "projected_inside": 1728, - "first_hit": 909 - }, - { - "view": 2, - "serial": "17736741", - "observed_vertices": 628, - "projected_inside": 1728, - "first_hit": 908 - }, - { - "view": 3, - "serial": "23007103", - "observed_vertices": 749, - "projected_inside": 1728, - "first_hit": 940 - } - ], - "observed_vertices": 1153, - "filled_vertices": 575, - "fill_color_rgb": [ - 0.20641317520444788, - 0.16862745098039214, - 0.1572585014457562 - ], - "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_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/colors/vertex_colors.npz b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/colors/vertex_colors.npz deleted file mode 100644 index 11a3c0e556a0209cdb9cb3c4e41567f6eb73eb5d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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 sha256:6a2b3c55e6626f1e4d6d5b8038234b968326f8fff55393141dc59b1f550b809b -size 56328 diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors.log deleted file mode 100644 index fb323114e3c7d1bf64b1dc726fc875e726518a36..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/colors.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_argv.json deleted file mode 100644 index 93c6f574ed5020d59cffc64a20572fb2cd6b0bb1..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:50:17.672117+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_result.json deleted file mode 100644 index 5e23efda54bfdcf03a086562927b6b753abcad62..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 2.573285260994453, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit.log deleted file mode 100644 index 392466435b514342040fcefbe36d4927cf7e79c5..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/fit.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_argv.json deleted file mode 100644 index 28ca8e30839dd8e3816120c930a99792e7c86364..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "--chain-curvature-weight", - "5e-10", - "--chain-control-count", - "18" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:49:49.908865+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_result.json deleted file mode 100644 index eaa010d7d011ea2fff8de1a2165d0d368bfe7c6c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 22.790251764992718, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid.log deleted file mode 100644 index 7253a9848b90b109202ccff99dbbc7ad214d7a30..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/hybrid.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_argv.json deleted file mode 100644 index 90216c3ec358ce1d343250647d2c7e8c7b351b84..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:50:20.669760+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_result.json deleted file mode 100644 index d5c33978142823aa5e47714a406a28e77d817a91..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 2.255043400989962, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest.log deleted file mode 100644 index b9a3b220468e82e6d11aa3380fde8b1118d0e50d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/manifest.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_argv.json deleted file mode 100644 index bf6725661e73d80221c9b5415f1cc0fd3b97064c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" - ], - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", - "started_utc": "2026-10-28T22:50:35.345905+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_result.json deleted file mode 100644 index 04e52f06371c6255721be107c9238f6a9da347bc..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "elapsed_s_excluding_queue": 1.3612327229930088, - "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review.log deleted file mode 100644 index a02a61f6faf5d31511a860c4504fb871cc6176d7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/review.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_argv.json deleted file mode 100644 index f20ba4d186eaa5f3c3481fac9a07e8e5867a3d6d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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", - 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+0,0 @@ -colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/colors.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_argv.json deleted file mode 100644 index 1a32ca9bfaf2a13181b8fc9e3abefbebefcb26b6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - ], - "started_utc": "2026-10-28T22:10:34.418464+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_result.json deleted file mode 100644 index dccae93fb048f5835d745de37eb11f2c90b259c9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_colors_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 32.876061360002495 -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit.log deleted file mode 100644 index 48f6c18482aad83739d3d4b57d93f382579730e2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/fit.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_argv.json deleted file mode 100644 index 5f848d9c071b90bb4c38337b11d5181eb4c4f173..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_v1", - "--chain-curvature-weight", - "5e-9", - "--chain-control-count", - "18" - ], - "started_utc": "2026-10-28T22:07:04.736859+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_result.json deleted file mode 100644 index 3c46e6ef105f53a64cac8fde86f7e05a3c477230..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_fit_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 184.04458521200286 -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid.log deleted file mode 100644 index 9c004a5b0d752134e0b5839f1d9b060b90e05985..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/hybrid.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_argv.json deleted file mode 100644 index 392d9eb84f254f399d88cf2504ddf1ebd49b82a9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - ], - "started_utc": "2026-10-28T22:11:07.294716+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_result.json deleted file mode 100644 index 1efb6459f4eeee6e5f9969afa64b442f96c25b4b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_hybrid_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 7.612649925009464 -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest.log deleted file mode 100644 index 00ee82efc8dfdc0de55461e33b41cd1e4ce08a7c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/manifest.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_argv.json deleted file mode 100644 index 2d08f8c14679d256b177e04a843cc360855414ec..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - ], - "started_utc": "2026-10-28T22:11:39.872053+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_result.json deleted file mode 100644 index fc5e7a74df7853fa31c1431b298f1a4985bdf7b5..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_manifest_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 6.891923165996559 -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review.log deleted file mode 100644 index d6caf703422a5b754f0d96161ab76b6255a0fbb9..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/review.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_argv.json deleted file mode 100644 index 707c17163edf4515b47e08a81bf8cb38bf756b23..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - ], - "started_utc": "2026-10-28T22:11:14.907860+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_result.json deleted file mode 100644 index 3edd4d5c178d8b5269ac8af50bf5111c4d690c73..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_review_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 24.963562548000482 -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube.log deleted file mode 100644 index a1bfab2f11141b970aba41533f35a232f4fc67d2..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/steps/tube.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_argv.json deleted file mode 100644 index 3dd65c8b8b541b06fa9d7c6e0671453e21d5ced7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - ], - "started_utc": "2026-10-28T22:10:08.782098+00:00" -} \ No newline at end of file diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_result.json deleted file mode 100644 index 7b13ba50fd1110a03c74ffddb84498bab617a582..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/owner_refit_tube_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 25.636197654996067 -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd deleted file mode 100644 index c5852d21e888da195781bb1be13c8c9af714274c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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 sha256:2694cde81fda7f9510e43e71f07d9f7f95545318edc5b51c3d556b4ff2fd9897 -size 26230243 diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/reused_inputs.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/reused_inputs.json deleted file mode 100644 index d14bc2706e57e7cf47b63ccfd1f3091075504026..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/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_233144_367389/mask_0.png", - "gaussian_data/session_20260921_233144_367389/mask_human_3.png", - "gaussian_data/session_20260921_233144_367389/mask_human_1.png", - "gaussian_data/session_20260921_233144_367389/0.png", - "gaussian_data/session_20260921_233144_367389/mask_3.png", - "gaussian_data/session_20260921_233144_367389/camera_meta.pkl", - "gaussian_data/session_20260921_233144_367389/2.png", - "gaussian_data/session_20260921_233144_367389/2_depth.npy", - "gaussian_data/session_20260921_233144_367389/mask_2.png", - "gaussian_data/session_20260921_233144_367389/0_depth.npy", - "gaussian_data/session_20260921_233144_367389/mask_human_0.png", - "gaussian_data/session_20260921_233144_367389/3_depth.npy", - "gaussian_data/session_20260921_233144_367389/interp_poses.pkl", - "gaussian_data/session_20260921_233144_367389/observation.ply", - "gaussian_data/session_20260921_233144_367389/1_depth.npy", - "gaussian_data/session_20260921_233144_367389/mask_1.png", - "gaussian_data/session_20260921_233144_367389/1.png", - "gaussian_data/session_20260921_233144_367389/mask_human_2.png", - "gaussian_data/session_20260921_233144_367389/3.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 5e-9 for both", - "question_item_id": "[\"request_user_input_async\",\"call_4f3ca5db567e45e7a0e793e0329a9bf9\",0]", - "recorded_utc": "2026-10-28T22:07:04.693454+00:00", - "control_count": 18, - "lambda_curvature_cost": 5e-09, - "settings_source": "233248 variant B", - "scope": "Prepare233144 with18controls and curvature5e-9; all other current C2 settings unchanged. Individual prior review and acceptance remain separate.", - "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" - }, - "action": "Exact copies of27 true observation/filter/step inputs. 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a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/fit.json diff --git 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No newline at end of file diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/steps/tube.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/steps/tube.json deleted file mode 100644 index 93ab1ac44fd31535e0a0738624d04796f8fd4ed7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/steps/tube.json +++ /dev/null @@ -1,63 +0,0 @@ -{ - "status": "ok", - "settings": { - "radius_m": 0.00475, - "step_t": 0.125, - "step_angle_deg": 30 - }, - "outputs": { - "checks": { - "euler_characteristic": 0, - "watertight": true, - "components": 1, - "winding_consistent": true, - "signed_volume_m3": 3.9719826858095106e-05, - "minimum_outward_normal_dot_m": 0.004568361023984254, - "degenerate_triangles": 0, - "self_intersecting": false, - "maximum_radius_error_m": 9.614775572930334e-09, - "maximum_diameter_error_m": 1.9225657805349572e-08, - "bishop_seam_error": 1.1920928955078125e-07, - "minimum_nonadjacent_centerline_distance_m": 0.011442161562936076, - "triangle_area_m2": { - "min": 6.017624002219325e-06, - "median": 1.0300656695404638e-05, - "mean": 1.0025363362964688e-05, - "max": 1.1791357703112647e-05, - "density_max_over_min": 1.9594706646284221 - }, - "bounds_m": [ - [ - -0.03675432875752449, - -0.17487460374832153, - 0.00012473855167627335 - ], - [ - 0.17247842252254486, - -0.001768721267580986, - 0.01552670169621706 - ] - ], - "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 - }, - "vertex_count": 864, - "triangle_count": 1728, - "files": { - "tube/tube_checks.json": "5e2dd98e8346fddab091bc37bc35cbe6da0d956b261d9a580d1aca1d5d4ec276", - "tube/triangle_areas.npz": "0aa9351dfcd6124d9910563f71cb14a28b0c9f9619e99ef5441c99168b39fe29", - "tube/geometry.npz": "6b4bde18800ab068aa2cf244d52d7dc02fa7145201a1891e02050ce9524a72f0" - } - }, - "code": { - "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" - }, - "wall_time_s": 3.272306203842163 -} \ No newline at end of file diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/tube/geometry.npz b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/tube/geometry.npz deleted file mode 100644 index c9d3fceda21da2b3a8be8d5d7bb979741c5a6d88..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/tube/geometry.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6b4bde18800ab068aa2cf244d52d7dc02fa7145201a1891e02050ce9524a72f0 -size 85676 diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/tube/triangle_areas.npz b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/tube/triangle_areas.npz deleted file mode 100644 index b3e048e121d16588ef81acb14e51087ab2f8ce5b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/tube/triangle_areas.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0aa9351dfcd6124d9910563f71cb14a28b0c9f9619e99ef5441c99168b39fe29 -size 14092 diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/tube/tube.ply b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/tube/tube.ply deleted file mode 100644 index 3d98c3855d4efbfa2def2c52d851b7f86e97d4cd..0000000000000000000000000000000000000000 Binary files a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/tube/tube.ply and /dev/null differ diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1.log b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1.log deleted file mode 100644 index 7d25dda225276bc0195a5c5553d5f7cc3982ec41..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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 18:23:28] -Init points from pcd... [28/10 18:23:28] -Init points from mesh... [28/10 18:23:28] -Loading Training Cameras [28/10 18:23:28] -Loading Test Cameras [28/10 18:23:28] -Number of points at initialisation : 130019 [28/10 18:23:28] -Sampling 100000 points from mesh [28/10 18:23:28] -{ - "cameras": [ - { - "id": 0, - "width": 1920, - "height": 1080, - "object_px": 11837, - "occlusion_px": 160413, - "valid_depth_px": 1953381, - "boundary_px": 3192, - "projection_max_error_px": 2.076818088326489e-05 - }, - { - "id": 1, - "width": 1920, - "height": 1080, - "object_px": 9880, - "occlusion_px": 147454, - "valid_depth_px": 2026613, - "boundary_px": 3005, - "projection_max_error_px": 6.672083653499315e-07 - }, - { - "id": 2, - "width": 1920, - "height": 1080, - "object_px": 10239, - "occlusion_px": 232647, - "valid_depth_px": 1974051, - "boundary_px": 3285, - "projection_max_error_px": 4.7477295301253664e-06 - }, - { - "id": 3, - "width": 1920, - "height": 1080, - "object_px": 7381, - "occlusion_px": 188884, - "valid_depth_px": 1905718, - "boundary_px": 2616, - "projection_max_error_px": 2.9697677452058956e-06 - } - ], - "hybrid": { - "vertex_color_branch": true, - "mesh": 103680, - "observed": 26339, - "total": 130019 - } -} [28/10 18:23:28] diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1_argv.json deleted file mode 100644 index e3712a230bc683808c79d520e0d96e17f556909e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", - "--accepted-prior-manifest-sha256", - "44d944a5d07bb7a385b346ba916e745083d00a032b3dd560a53a18e4afc16007", - "--output", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/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_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1_result.json deleted file mode 100644 index 180bd4267b394d8715a29a4eb09f9bc0d214ec23..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/appearance_check_v1_result.json +++ /dev/null @@ -1,4 +0,0 @@ -{ - "returncode": 0, - "elapsed_s": 52.67811157100368 -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/appearance_train_v1.log b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/appearance_train_v1.log deleted file mode 100644 index 68a011e285d4880a78ef14b55097a5d835b209a7..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/appearance_train_v1.log +++ /dev/null @@ -1,13 +0,0 @@ -Optimizing /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/appearance_train_v1/model -Output folder: /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/appearance_train_v1/model [28/10 18:24:49] -Found metadata.json file, assuming customized QQTT dataset! [28/10 18:24:49] -Init points from pcd... [28/10 18:24:50] -Init points from mesh... [28/10 18:24:50] -Loading Training Cameras [28/10 18:24:50] -Loading Test Cameras [28/10 18:24:50] -Number of points at initialisation : 130019 [28/10 18:24:50] -Sampling 100000 points from mesh [28/10 18:24:50] - Training progress: 0%| | 0/10000 [00:00 /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/colors.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_argv.json deleted file mode 100644 index 4ef0debca883c9db90258f101242bde0fca0ae5c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T22:05:17.830380+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json deleted file mode 100644 index e222192a6d747e27724b6167a23ddc36b3623aa3..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_colors_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 2.6732046604156494, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_complete.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_complete.json deleted file mode 100644 index c0e4393c34b45e2d2dbc17b2a2d9783b8e4c3c6a..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_complete.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", - "phase": "prior", - "completed_utc": "2026-10-28T22:05:36.192812+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth.log b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth.log deleted file mode 100644 index a2715bd6abcd2f8d1b5024dea5b911a773cf991f..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/diagnose-depth.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_argv.json deleted file mode 100644 index 2f2c77c2603bfd54b739fdc7f9ae5a9d9250c153..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T22:04:49.176796+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json deleted file mode 100644 index 44dd9c72ae54487e2477a2ee5cce4f8ca160ab70..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_diagnose_depth_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 1.5730030536651611, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit.log deleted file mode 100644 index d06a8df9ae2a857299762964cbd9ac22c827f926..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/fit.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_argv.json deleted file mode 100644 index f053e837b3f1a846ec495cf1e2d59b7c5f8b02b6..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T22:04:50.752168+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json deleted file mode 100644 index 9b81136a73af602fab6b7446f9f27513b0a6ec53..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_fit_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 22.10499095916748, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid.log deleted file mode 100644 index 70c948776d30a3529eb2bd9b31fcf2c427998245..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/hybrid.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_argv.json deleted file mode 100644 index 61a9f7c68c156fa5a0cf526e7e323426069aa72e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T22:05:20.506710+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json deleted file mode 100644 index 4c550fadb8dca417766ac4344a4d80bf7649a250..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_hybrid_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 2.3043668270111084, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs.log deleted file mode 100644 index d73bdff443f7058e80e9ecbe7181378cffa456a4..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/inputs.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_argv.json deleted file mode 100644 index 79852cac58972d5aa111787222af6c08c7e53f70..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673", - "--object", - "bike_chain", - "--unfitted-inputs", - "--fitting-bundle", - "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T22:04:19.722117+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json deleted file mode 100644 index f460f7c864b99fd08e9cfc9de3c696eb05120d8b..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_inputs_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 29.434255599975586, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest.log deleted file mode 100644 index 8d4d4db6b9f8c421de88e228e4c515b25fd75741..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_v1/manifest.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_argv.json deleted file mode 100644 index 5eb66be492a0883daea7fc8a7f4765911cc64b2e..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T22:05:34.865937+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json deleted file mode 100644 index 646afbb55ee81a832a150419a3b8f67eda86857d..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_manifest_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 1.3242645263671875, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review.log deleted file mode 100644 index 9a5569b7f30511431e296558d708f61dac52a56c..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/review.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_argv.json deleted file mode 100644 index f5102ea4de92cccf8e1268007bc37ffe0bc32675..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T22:05:22.819841+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json deleted file mode 100644 index 5321f3a7a5ffcd3f408a91a1de11bcb4853a43f8..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_review_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - "returncode": 0, - "wall_seconds": 12.027328491210938, - "code": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube.log deleted file mode 100644 index c0cbed767bb9582d2988d8b1cc581d4590d755ae..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_v1/steps/tube.json diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_argv.json deleted file mode 100644 index 55f0650c1eb72cbe39b8ce1d1b230f935ae36dc0..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/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_233144_367389/window_anchor0268-0673/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_233144_367389/window_anchor0268-0673/owner_mask_acceptance_c6a_selected_20261028.json", - "started_utc": "2026-10-28T22:05:12.862789+00:00" -} diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json deleted file mode 100644 index dcc0797447f6533c6f18fa5deac2f6ccd67e5cfc..0000000000000000000000000000000000000000 --- a/sessions/session_20260921_233144_367389/preprocessing/chain-stronger-reprojection-v2/native/batch_prior_tube_result.json +++ /dev/null @@ -1,5 +0,0 @@ -{ - 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