sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1: payload batch 1/1

.gitattributes

@@ -828,3 +828,4 @@ sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/n
 sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/input_case/session_20260921_232717_273624/points3D.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/model/point_cloud/iteration_10000/point_cloud.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_232717_273624/preprocessing/c6a-input-preparation-v1/native/appearance_train_v1/model/point_cloud/iteration_7000/point_cloud.ply filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text

sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/colors/color_summary.json

@@ -0,0 +1,49 @@
+{
+  "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views",
+  "two_sided": true,
+  "depth_tolerance_m": 0.025,
+  "first_hit_tolerance_m": 0.0002,
+  "per_view": [
+    {
+      "view": 0,
+      "serial": "12540311",
+      "observed_vertices": 309,
+      "projected_inside": 450,
+      "first_hit": 376
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "observed_vertices": 180,
+      "projected_inside": 450,
+      "first_hit": 363
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "observed_vertices": 325,
+      "projected_inside": 450,
+      "first_hit": 383
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "observed_vertices": 305,
+      "projected_inside": 450,
+      "first_hit": 369
+    }
+  ],
+  "observed_vertices": 405,
+  "filled_vertices": 45,
+  "fill_color_rgb": [
+    0.4130485070194236,
+    0.3501026043110393,
+    0.2935920691021704
+  ],
+  "glb_roundtrip": {
+    "float32_positions_exact": true,
+    "vertex_colors_exact": true,
+    "uv_count": 0,
+    "vertex_reordered_on_open3d_load": true
+  }
+}

sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/colors/vertex_colors.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22a99b7189a112ff6be26e49bf4c0aa5f4593d6fa81ca1101d2f988d1dcf219b
+size 15432

sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/hybrid/populations.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e811b619bb1ae41157a88bf6a2e9e48c6864fd6b3cf19e3b958010afd1519d6
+size 2449214

sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/inputs/depth_offset_diagnostic.json

@@ -0,0 +1,90 @@
+{
+  "annulus_px": [
+    20,
+    80
+  ],
+  "interior_erosion_px": 2,
+  "correction_applied": false,
+  "views": [
+    {
+      "view": 0,
+      "serial": "12540311",
+      "annulus_count": 83805,
+      "belt_interior_count": 9223,
+      "belt_edge_count": 3886,
+      "table_median_z_m": 5.614396775588393e-05,
+      "belt_interior_median_z_m": 0.014536743022566578,
+      "belt_edge_median_z_m": 0.002766566896703626,
+      "belt_minus_table_m": 0.014480599054810694,
+      "edge_minus_table_m": 0.002710422928947742,
+      "table_p10_p90_z_m": [
+        -0.0015104612984891742,
+        0.0012174695495640777
+      ],
+      "belt_interior_p10_p90_z_m": [
+        0.00261108051288661,
+        0.025145396816297193
+      ]
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "annulus_count": 44570,
+      "belt_interior_count": 7516,
+      "belt_edge_count": 1962,
+      "table_median_z_m": -0.0007741575156395841,
+      "belt_interior_median_z_m": 0.009729761751823385,
+      "belt_edge_median_z_m": 0.006033844598657412,
+      "belt_minus_table_m": 0.010503919267462969,
+      "edge_minus_table_m": 0.006808002114296996,
+      "table_p10_p90_z_m": [
+        -0.0012739911649638723,
+        -7.552693662037384e-05
+      ],
+      "belt_interior_p10_p90_z_m": [
+        0.0002759109479918975,
+        0.018587164113242904
+      ]
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "annulus_count": 84580,
+      "belt_interior_count": 10137,
+      "belt_edge_count": 3780,
+      "table_median_z_m": 0.0003272291734691124,
+      "belt_interior_median_z_m": 0.009117033255995,
+      "belt_edge_median_z_m": 0.001996162379860611,
+      "belt_minus_table_m": 0.008789804082525887,
+      "edge_minus_table_m": 0.0016689332063914986,
+      "table_p10_p90_z_m": [
+        -0.0007368257105135334,
+        0.0015993097291488014
+      ],
+      "belt_interior_p10_p90_z_m": [
+        0.0027765020489128878,
+        0.021592085147589805
+      ]
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "annulus_count": 52063,
+      "belt_interior_count": 9063,
+      "belt_edge_count": 2685,
+      "table_median_z_m": 0.0005592939767602445,
+      "belt_interior_median_z_m": 0.015321748844323801,
+      "belt_edge_median_z_m": 0.003449738670074032,
+      "belt_minus_table_m": 0.014762454867563557,
+      "edge_minus_table_m": 0.0028904446933137873,
+      "table_p10_p90_z_m": [
+        -0.00013165901367675472,
+        0.0010480366872363644
+      ],
+      "belt_interior_p10_p90_z_m": [
+        0.005199978022473495,
+        0.02446652005252604
+      ]
+    }
+  ]
+}

sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/inputs/observed_cloud.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fb6c232ef47ecb4bf9b17244f199439bcd15680531fa082420073894e7e5c0f
+size 2506828

sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/inputs/reference_views.json

@@ -0,0 +1,100 @@
+{
+  "case": "session_20260921_232717_273624",
+  "grid_sample": 0,
+  "views": [
+    {
+      "index": 0,
+      "serial": "12540311",
+      "native_frame": 0,
+      "offset_ms": 0.0,
+      "object_mask_px": 13109,
+      "invalid_depth_in_mask_px": 0,
+      "occlusion_union_px": 359326,
+      "object_and_union_px": 0,
+      "lifted_points": 9019,
+      "lifted_z_min_max_m": [
+        -0.0010825990102045768,
+        0.034312830719805176
+      ],
+      "uneroded_lifted_points": 13109,
+      "uneroded_lifted_z_min_max_m": [
+        -0.0043408289987552084,
+        0.074923488058379
+      ],
+      "eroded_lifted_points": 9223,
+      "erosion_removed_points": 3886,
+      "outlier_removed_points": 204
+    },
+    {
+      "index": 1,
+      "serial": "12933256",
+      "native_frame": 0,
+      "offset_ms": 14.060033,
+      "object_mask_px": 9478,
+      "invalid_depth_in_mask_px": 0,
+      "occlusion_union_px": 356708,
+      "object_and_union_px": 0,
+      "lifted_points": 7356,
+      "lifted_z_min_max_m": [
+        -0.001978190247522771,
+        0.024438584733198154
+      ],
+      "uneroded_lifted_points": 9478,
+      "uneroded_lifted_z_min_max_m": [
+        -0.0031354348328207493,
+        0.06940477565591463
+      ],
+      "eroded_lifted_points": 7516,
+      "erosion_removed_points": 1962,
+      "outlier_removed_points": 160
+    },
+    {
+      "index": 2,
+      "serial": "17736741",
+      "native_frame": 0,
+      "offset_ms": 2.871386,
+      "object_mask_px": 13917,
+      "invalid_depth_in_mask_px": 0,
+      "occlusion_union_px": 382731,
+      "object_and_union_px": 0,
+      "lifted_points": 9566,
+      "lifted_z_min_max_m": [
+        -0.0023102916076466196,
+        0.03186090529210617
+      ],
+      "uneroded_lifted_points": 13917,
+      "uneroded_lifted_z_min_max_m": [
+        -0.005025517137228097,
+        0.037007255771599246
+      ],
+      "eroded_lifted_points": 10137,
+      "erosion_removed_points": 3780,
+      "outlier_removed_points": 571
+    },
+    {
+      "index": 3,
+      "serial": "23007103",
+      "native_frame": 0,
+      "offset_ms": 9.661457,
+      "object_mask_px": 11748,
+      "invalid_depth_in_mask_px": 0,
+      "occlusion_union_px": 189091,
+      "object_and_union_px": 0,
+      "lifted_points": 8857,
+      "lifted_z_min_max_m": [
+        -1.4978323693792817e-05,
+        0.030975786114584514
+      ],
+      "uneroded_lifted_points": 11748,
+      "uneroded_lifted_z_min_max_m": [
+        -0.0032470720279594856,
+        0.03143388286837062
+      ],
+      "eroded_lifted_points": 9063,
+      "erosion_removed_points": 2685,
+      "outlier_removed_points": 206
+    }
+  ],
+  "observed_points": 34798,
+  "mask_erosion_px": 2
+}

sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/manifest.json

@@ -0,0 +1,1037 @@
+{
+  "kind": "real_rgbd_appearance_spline_prior_v1",
+  "code": {
+    "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "steps": {
+    "colors": {
+      "status": "ok",
+      "settings": {
+        "depth_tolerance_m": 0.025
+      },
+      "outputs": {
+        "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views",
+        "two_sided": true,
+        "depth_tolerance_m": 0.025,
+        "first_hit_tolerance_m": 0.0002,
+        "per_view": [
+          {
+            "view": 0,
+            "serial": "12540311",
+            "observed_vertices": 309,
+            "projected_inside": 450,
+            "first_hit": 376
+          },
+          {
+            "view": 1,
+            "serial": "12933256",
+            "observed_vertices": 180,
+            "projected_inside": 450,
+            "first_hit": 363
+          },
+          {
+            "view": 2,
+            "serial": "17736741",
+            "observed_vertices": 325,
+            "projected_inside": 450,
+            "first_hit": 383
+          },
+          {
+            "view": 3,
+            "serial": "23007103",
+            "observed_vertices": 305,
+            "projected_inside": 450,
+            "first_hit": 369
+          }
+        ],
+        "observed_vertices": 405,
+        "filled_vertices": 45,
+        "fill_color_rgb": [
+          0.4130485070194236,
+          0.3501026043110393,
+          0.2935920691021704
+        ],
+        "glb_roundtrip": {
+          "float32_positions_exact": true,
+          "vertex_colors_exact": true,
+          "uv_count": 0,
+          "vertex_reordered_on_open3d_load": true
+        },
+        "files": {
+          "colors/vertex_colors.npz": "22a99b7189a112ff6be26e49bf4c0aa5f4593d6fa81ca1101d2f988d1dcf219b",
+          "colors/color_summary.json": "b3293b44b56a07de51ac696a55081c327fe182154f8ece6a43720c72d94a9f0f",
+          "ribbon/shape_prior.glb": "f689ceecf96d013b7f3e7ba6e03aa08b006339797651f415ece332dd7eaaef61",
+          "ribbon/ribbon.ply": "815df146a21966028054c48e5cbf66cd88c9fb3aa71dda2924f5514d745e2142",
+          "gaussian_data/session_20260921_232717_273624/shape_prior.glb": "f689ceecf96d013b7f3e7ba6e03aa08b006339797651f415ece332dd7eaaef61"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 1.1542484760284424
+    },
+    "diagnose-depth": {
+      "status": "ok",
+      "settings": {
+        "correction": "none",
+        "annulus_px": [
+          20,
+          80
+        ]
+      },
+      "outputs": {
+        "report": {
+          "annulus_px": [
+            20,
+            80
+          ],
+          "interior_erosion_px": 2,
+          "correction_applied": false,
+          "views": [
+            {
+              "view": 0,
+              "serial": "12540311",
+              "annulus_count": 83805,
+              "belt_interior_count": 9223,
+              "belt_edge_count": 3886,
+              "table_median_z_m": 5.614396775588393e-05,
+              "belt_interior_median_z_m": 0.014536743022566578,
+              "belt_edge_median_z_m": 0.002766566896703626,
+              "belt_minus_table_m": 0.014480599054810694,
+              "edge_minus_table_m": 0.002710422928947742,
+              "table_p10_p90_z_m": [
+                -0.0015104612984891742,
+                0.0012174695495640777
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.00261108051288661,
+                0.025145396816297193
+              ]
+            },
+            {
+              "view": 1,
+              "serial": "12933256",
+              "annulus_count": 44570,
+              "belt_interior_count": 7516,
+              "belt_edge_count": 1962,
+              "table_median_z_m": -0.0007741575156395841,
+              "belt_interior_median_z_m": 0.009729761751823385,
+              "belt_edge_median_z_m": 0.006033844598657412,
+              "belt_minus_table_m": 0.010503919267462969,
+              "edge_minus_table_m": 0.006808002114296996,
+              "table_p10_p90_z_m": [
+                -0.0012739911649638723,
+                -7.552693662037384e-05
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.0002759109479918975,
+                0.018587164113242904
+              ]
+            },
+            {
+              "view": 2,
+              "serial": "17736741",
+              "annulus_count": 84580,
+              "belt_interior_count": 10137,
+              "belt_edge_count": 3780,
+              "table_median_z_m": 0.0003272291734691124,
+              "belt_interior_median_z_m": 0.009117033255995,
+              "belt_edge_median_z_m": 0.001996162379860611,
+              "belt_minus_table_m": 0.008789804082525887,
+              "edge_minus_table_m": 0.0016689332063914986,
+              "table_p10_p90_z_m": [
+                -0.0007368257105135334,
+                0.0015993097291488014
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.0027765020489128878,
+                0.021592085147589805
+              ]
+            },
+            {
+              "view": 3,
+              "serial": "23007103",
+              "annulus_count": 52063,
+              "belt_interior_count": 9063,
+              "belt_edge_count": 2685,
+              "table_median_z_m": 0.0005592939767602445,
+              "belt_interior_median_z_m": 0.015321748844323801,
+              "belt_edge_median_z_m": 0.003449738670074032,
+              "belt_minus_table_m": 0.014762454867563557,
+              "edge_minus_table_m": 0.0028904446933137873,
+              "table_p10_p90_z_m": [
+                -0.00013165901367675472,
+                0.0010480366872363644
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.005199978022473495,
+                0.02446652005252604
+              ]
+            }
+          ]
+        },
+        "files": {
+          "inputs/depth_offset_diagnostic.json": "f5fa661de64c3f65665f0babb019590fe6a4832622e3efad72cb3ad83f647b76"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.3133554458618164
+    },
+    "fit": {
+      "status": "ok",
+      "settings": {
+        "object": {
+          "name": "grey_timing_belt",
+          "representation": "ribbon",
+          "fitter_source": "spline_estimation.timing_belt_fitting (scratch/test_timing_belt_perception.py)",
+          "dimension_source": "demonstrated 25 mm width; surface only, no interior (corpus Q1, 2026-10-25)",
+          "radius_m": null,
+          "ribbon_width_m": 0.025,
+          "step_t": 0.1,
+          "step_angle_deg": null,
+          "u_resolution": 5,
+          "overlap_rule": null,
+          "twist_penalty": {
+            "samples": 250,
+            "threshold_per_m": 10.0,
+            "huber_per_m": 30.0,
+            "cap_per_m": 80.0,
+            "weight": 5e-08
+          }
+        },
+        "max_rounds": 400,
+        "control_count": 9,
+        "relative_loss_tolerance": 1e-07,
+        "reprojection": {
+          "weight": 4.0,
+          "direction": "visible mask pixels to projected centerline",
+          "ribbon_twist_stage": "two-sided (owner Q11): visible mask pixels to projected width segments plus visible projected surface samples (off the occlusion union) to the nearest mask pixel",
+          "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
+        },
+        "loss_config": {
+          "eval_distances": true,
+          "max_saturation_distance": 0.035,
+          "distance_huber_delta": 0.005,
+          "eval_curvature_cost": true,
+          "num_eval_reg_points": 250,
+          "lambda_curvature_cost": 5e-08,
+          "max_curvature": 10.0,
+          "curvature_huber_delta": 30.0,
+          "max_saturation_curvature": 80.0,
+          "eval_curvilinear_energy": false,
+          "lambda_curvilinear_energy": 0.001,
+          "eval_length_constraint": true,
+          "lambda_length_constraint": 0.1,
+          "arclength_bounds": [
+            0.6639999747276306,
+            0.6660000085830688
+          ]
+        },
+        "solver_config": {
+          "solver_type": "lbfgs",
+          "linesearch_type": "zoom",
+          "max_linesearch_steps": 10,
+          "grad_norm_tolerance": 0.0003,
+          "max_iter": 25
+        },
+        "ribbon_twist_refinement": {
+          "stage": "2 of 2; centerline control points frozen at stage 1, nine raw twist knots free",
+          "start": "stage-1 knots reduced modulo pi to bounded twist in (-pi/2, pi/2]",
+          "loss": "3D ribbon distance + weight x two-sided surface mask term + twist penalty",
+          "twist_penalty": {
+            "samples": 250,
+            "threshold_per_m": 10.0,
+            "huber_per_m": 30.0,
+            "cap_per_m": 80.0,
+            "weight": 5e-08
+          },
+          "solver": "SciPy L-BFGS-B, knots within +-pi*atanh(0.8) (twist within +-0.8 pi); objective / start value; ftol 1e-7 (the stage-1 relative rule), gtol 1e-12, maxls 20, maxiter = rounds x 25"
+        }
+      },
+      "outputs": {
+        "filter": {
+          "method": "Open3D.remove_statistical_outlier",
+          "nb_neighbors": 20,
+          "std_ratio": 2.0,
+          "input_count": 35939,
+          "kept_count": 34798,
+          "removed_count": 1141,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 9223,
+              "kept": 9019,
+              "removed": 204,
+              "live_20_0.05_kept": 5122,
+              "no_filter_kept": 9223
+            },
+            {
+              "view": 1,
+              "input": 7516,
+              "kept": 7356,
+              "removed": 160,
+              "live_20_0.05_kept": 6203,
+              "no_filter_kept": 7516
+            },
+            {
+              "view": 2,
+              "input": 10137,
+              "kept": 9566,
+              "removed": 571,
+              "live_20_0.05_kept": 6831,
+              "no_filter_kept": 10137
+            },
+            {
+              "view": 3,
+              "input": 9063,
+              "kept": 8857,
+              "removed": 206,
+              "live_20_0.05_kept": 2828,
+              "no_filter_kept": 9063
+            }
+          ]
+        },
+        "rounds": 1,
+        "stop": "gradient_tolerance",
+        "final": {
+          "loss": 1.09262282421696e-05,
+          "components": {
+            "distance": 8.961117600847501e-06,
+            "curvature": 1.860397524922064e-08,
+            "arclength": 0.0,
+            "mask_reprojection_2d": 1.9465069271973334e-06,
+            "twist": 0.0
+          },
+          "grad_norm": 3.3760412243566407e-09,
+          "arclength_m": 0.6659678816795349,
+          "arclength_bound_active_within_1mm": true,
+          "max_curvature_per_m": 12.505267143249512,
+          "curvature_p50_p90_per_m": [
+            9.910741329193115,
+            11.681507301330566
+          ],
+          "curvature_above_max_fraction": 0.48,
+          "mean_distance_m": 0.003560476695579635,
+          "max_distance_m": 0.015626689419150352,
+          "beyond_2delta_fraction": 0.049629289039599976,
+          "at_cap_fraction": 0.0,
+          "per_view": [
+            {
+              "view": 0,
+              "count": 9019,
+              "median_m": 0.003026952501386404,
+              "p90_m": 0.007423179503530264,
+              "max_m": 0.013904224149882793,
+              "beyond_2delta_fraction": 0.02095576006209114,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 1,
+              "count": 7356,
+              "median_m": 0.0013874875730834901,
+              "p90_m": 0.004049725364893675,
+              "max_m": 0.008962325751781464,
+              "beyond_2delta_fraction": 0.0,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 2,
+              "count": 9566,
+              "median_m": 0.0020035719498991966,
+              "p90_m": 0.004299723310396075,
+              "max_m": 0.010873044840991497,
+              "beyond_2delta_fraction": 0.0017771273259460589,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 3,
+              "count": 8857,
+              "median_m": 0.0064391219057142735,
+              "p90_m": 0.011022781208157542,
+              "max_m": 0.015626689419150352,
+              "beyond_2delta_fraction": 0.17172857626735916,
+              "at_cap_fraction": 0.0
+            }
+          ],
+          "ribbon": {
+            "width_m": 0.02500000037252903,
+            "twist_rate_p90_max_per_m": [
+              2.810046362876892,
+              3.0983033180236816
+            ],
+            "theta_at_knots_rad": [
+              0.10363996773958206,
+              0.18754331767559052,
+              -0.00448707165196538,
+              0.04262719675898552,
+              0.1887412667274475,
+              0.04931756854057312,
+              -0.056537143886089325,
+              -0.041524384170770645,
+              -0.00741046154871583
+            ],
+            "theta_min_max_rad": [
+              -0.059882164001464844,
+              0.1947977989912033
+            ],
+            "width_direction_abs_z_mean": 0.9914451278530787,
+            "closest_u_abs_mean": 0.4961402958028926,
+            "closest_u_at_width_edge_fraction": 0.12066785447439508
+          },
+          "raw_theta": [
+            0.09217562548540317,
+            0.2786951581587835,
+            -0.080356634740689,
+            0.01580890912566483,
+            0.2728998971241382,
+            0.02640458322132521,
+            -0.08258852307592453,
+            -0.03531005281445597,
+            -0.025332106134316475
+          ]
+        },
+        "deterministic": true,
+        "partial_view_witness": {
+          "source": "synthetic upright elliptical band, four retained RP2 camera centres, both faces",
+          "seed": 6,
+          "noise_sigma_m": 0.0015,
+          "points": 288,
+          "ribbon_width_m": 0.025,
+          "truth_arclength_m": 0.664979607632856,
+          "fit_arclength_m": 0.6637027263641357,
+          "mean_point_to_ribbon_m": 0.0013682314893230796,
+          "mean_centerline_distance_to_truth_m": 0.0006032002581246964,
+          "max_centerline_distance_to_truth_m": 0.0015572715588724547,
+          "width_direction_abs_z_mean": 0.9987051767368632,
+          "width_direction_abs_z_min": 0.9958782713543136,
+          "theta_min_max_rad": [
+            -0.0679638460278511,
+            0.07198633253574371
+          ],
+          "rounds": 1,
+          "stop": "gradient_tolerance",
+          "twist_iterations": 12,
+          "twist_stop": "CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH"
+        },
+        "stage1_final": {
+          "loss": 6.06943758612033e-05,
+          "components": {
+            "distance": 9.105581739277113e-06,
+            "curvature": 1.860397524922064e-08,
+            "arclength": 0.0,
+            "mask_reprojection_2d": 5.157019040780142e-05
+          },
+          "grad_norm": 0.0002927650057245046,
+          "arclength_m": 0.6659678816795349,
+          "arclength_bound_active_within_1mm": true,
+          "max_curvature_per_m": 12.505267143249512,
+          "curvature_p50_p90_per_m": [
+            9.910741329193115,
+            11.681507301330566
+          ],
+          "curvature_above_max_fraction": 0.48,
+          "mean_distance_m": 0.00361204866226487,
+          "max_distance_m": 0.016755281016230583,
+          "beyond_2delta_fraction": 0.05043393298465429,
+          "at_cap_fraction": 0.0,
+          "per_view": [
+            {
+              "view": 0,
+              "count": 9019,
+              "median_m": 0.0033136627171188593,
+              "p90_m": 0.006408627238124609,
+              "max_m": 0.013798726722598076,
+              "beyond_2delta_fraction": 0.010089810400266104,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 1,
+              "count": 7356,
+              "median_m": 0.001229407440405339,
+              "p90_m": 0.003753928351216018,
+              "max_m": 0.00880866777151823,
+              "beyond_2delta_fraction": 0.0,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 2,
+              "count": 9566,
+              "median_m": 0.002164886915124953,
+              "p90_m": 0.004500216338783503,
+              "max_m": 0.010366943664848804,
+              "beyond_2delta_fraction": 0.0006272214091574326,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 3,
+              "count": 8857,
+              "median_m": 0.006566233467310667,
+              "p90_m": 0.011471641436219215,
+              "max_m": 0.016755281016230583,
+              "beyond_2delta_fraction": 0.18719656768657558,
+              "at_cap_fraction": 0.0
+            }
+          ],
+          "ribbon": {
+            "width_m": 0.02500000037252903,
+            "twist_rate_p90_max_per_m": [
+              0.00019693206850206478,
+              0.00022978645574767143
+            ],
+            "theta_at_knots_rad": [
+              4.39431460108608e-06,
+              -9.903492355078924e-06,
+              -5.011209509575565e-07,
+              1.320385854342021e-05,
+              1.6297095498885028e-05,
+              1.3933780792285688e-05,
+              1.3907823813497089e-05,
+              9.036828487296589e-06,
+              1.3245073205325752e-05
+            ],
+            "theta_min_max_rad": [
+              -1.0065547030535527e-05,
+              1.6466041415696964e-05
+            ],
+            "width_direction_abs_z_mean": 0.9988270987558798,
+            "closest_u_abs_mean": 0.4937556559456869,
+            "closest_u_at_width_edge_fraction": 0.11960457497557331
+          },
+          "round": 1,
+          "relative_loss_change": 0.9859834453805709
+        },
+        "twist": {
+          "start_raw_theta": [
+            6.431972906293486e-06,
+            -1.632117891851277e-05,
+            -5.682085770786277e-07,
+            1.5587287634749825e-05,
+            1.7442209355024632e-05,
+            1.242644793826117e-05,
+            1.6454678188821435e-05,
+            5.20177945873477e-06,
+            1.6959173080919746e-05
+          ],
+          "start_loss": 1.1430552149249706e-05,
+          "bound_raw": 3.451392295223203,
+          "knots_at_bound": 0,
+          "iterations": 12,
+          "evaluations": 32,
+          "stop": "CONVERGENCE: RELATIVE REDUCTION OF F <= FACTR*EPSMCH",
+          "success": true
+        },
+        "files": {
+          "spline/reprojection_residuals.npz": "7b84801174536e753f6a93383e49aac1554a3339a0249c3494038832bf59811d",
+          "spline/residuals.npz": "bafd0cd741bb7eff25b967bc109f5e6ba2b612f0af97d0d124dda508ef32950c",
+          "spline/filtered_cloud.npz": "7ae5322bed72316fff23a9eb3bad7e138221a4b4ed1467cb8f48b9acf0f58d27",
+          "spline/spline_init.json": "9f14bf662adf96aec3f6d22577c0b1f0b91640c2abce85d7239b7ea08e1f7b86",
+          "spline/determinism.json": "2d1f3dff8124897019517ba8ea102e38316a07a7654d0967bc09be0940784e6a",
+          "spline/filter.json": "c585b3597541466966951d9e650ee8c13ae92f5c481feeb505bafab3ebfb061d",
+          "spline/witness.json": "7b8b69d19e90d19bc910732039cb9c9bf51ad01e75ac47a45a8eda09dd361392",
+          "spline/filter_removed.npz": "ac5accdfa3636ab220209b92e8c529ccc1df30b68365b52d935fbfde192d0b41",
+          "spline/spline_stage1.json": "8d2232c8cb4517feeaed6fd4def0999280a53a8a00f455e2de75cd18b8555415",
+          "spline/twist_trajectory.jsonl": "2a1bf359f58069d8dfbf647de6c9b50e55d64f257eaf48d8cf8c4f6da2c5aa49",
+          "spline/spline_fit.json": "a2e5f98ea5d4370597e7f9c2b8863cc428b4c45057ec6391289e815f51ac8383",
+          "spline/rounds.jsonl": "ad3f8e645120ffa10d4cd361fee7a29a2ad366bba00b5ac97790a9008f2260c0",
+          "spline/init_ellipse.json": "52899fd70284782e3f88b482e303ff02e600733f32b098616035c25939afb47b",
+          "spline/reprojection.json": "2b1fa0d175c37494724e76b5f42cb28cbf585d22efffb90845ba199428317dde"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 52.23290944099426
+    },
+    "hybrid": {
+      "status": "ok",
+      "settings": {
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f",
+        "numpy_seed": 0,
+        "points_per_triangle": 30
+      },
+      "outputs": {
+        "counts": {
+          "observed": 34798,
+          "mesh": 21600,
+          "total": 56398,
+          "mesh_to_observed": 0.6207253290418989
+        },
+        "files": {
+          "hybrid/populations.npz": "7e811b619bb1ae41157a88bf6a2e9e48c6864fd6b3cf19e3b958010afd1519d6"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.7851665019989014
+    },
+    "inputs": {
+      "status": "ok",
+      "settings": {
+        "object": "grey_timing_belt",
+        "depth_source": "waft_stereo_dav2l5",
+        "depth_stream_ids": [
+          "zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth",
+          "zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth",
+          "zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth",
+          "zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth"
+        ],
+        "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+        "frames_sha256": "6bf8b4e86c9b020d202eda2fd447e94404522cbaac61ed9235731dbff43f9459",
+        "signed_native_frames_sha256": {
+          "12540311": "fb29bc9ed325b9ba87ee5a9f770f665806326377b021caf8805ee81f11abda54",
+          "12933256": "ec4f71bcd2481929aa28ce441f6e45bda7d6a3a469914441aba97b1adaeba0b8",
+          "17736741": "05c287e131ebf8917b856117bfbccb603319a79b367f2b8864276efbcedff03d",
+          "23007103": "56fc4cbe5e62d4f795ea8be79d3f116e343200a725f1a25ea9f660a3f4c79e07"
+        },
+        "camera_frames_sha256": {
+          "12540311": "0450cadfdb8c284b6fde0b8e259734be122c0e7d2f3373f13109f80043be5bfb",
+          "12933256": "f1d74b01a75a56b544f6244b60ea4d674a1543b92bfe5109e2b3f275952aedb9",
+          "17736741": "30d7e802a088889abdd6b434a617c24282d3ffa08c6b1cf932790c9467122d04",
+          "23007103": "1681338d7e447a78359cea139a03115ce732121b540a86eedce2948167bf0e5f"
+        },
+        "mask_erosion_px": 2,
+        "filter": {
+          "method": "Open3D.remove_statistical_outlier",
+          "nb_neighbors": 20,
+          "std_ratio": 2.0,
+          "input_count": 35939,
+          "kept_count": 34798,
+          "removed_count": 1141,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 9223,
+              "kept": 9019,
+              "removed": 204,
+              "live_20_0.05_kept": 5122,
+              "no_filter_kept": 9223
+            },
+            {
+              "view": 1,
+              "input": 7516,
+              "kept": 7356,
+              "removed": 160,
+              "live_20_0.05_kept": 6203,
+              "no_filter_kept": 7516
+            },
+            {
+              "view": 2,
+              "input": 10137,
+              "kept": 9566,
+              "removed": 571,
+              "live_20_0.05_kept": 6831,
+              "no_filter_kept": 10137
+            },
+            {
+              "view": 3,
+              "input": 9063,
+              "kept": 8857,
+              "removed": 206,
+              "live_20_0.05_kept": 2828,
+              "no_filter_kept": 9063
+            }
+          ]
+        },
+        "parent": null,
+        "unfitted_inputs": true,
+        "fitting_bundle_sha256": "adc82e188228632e80f2d31c7f708d6dc160ce8c9a05e33b25d0fd9594ebf262",
+        "signoffs": {
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12540311/review_signoff.json": "c75bbbd517351318692031aa58b5bb856f6235a0d953e9029559c48236181ba5",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12540311/review_signoff_occluder.json": "7c0560601033dd5b862a2afaf1b97be71828d3dc5f22555b6cc6ef5cb1927c62",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12933256/review_signoff.json": "31224feb85b9aa7296ed98ffb069d513979df1fedd0f2689c5fa7dbc1fcd20fc",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/12933256/review_signoff_occluder.json": "571686f1c07aae7cf32bbc7107cbc8f540423e4b5ad9b38d65b4f48053fabc95",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/17736741/review_signoff.json": "52985189abfd4661db622c279fd1b2a2a0f4ac37f865800bfa6662b30be82b45",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/17736741/review_signoff_occluder.json": "4361037b3d3215cd337b2ff976fac17342969ba637a4d2fea364479c433fa9bc",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/23007103/review_signoff.json": "2be2f1b205fb42f6074a86df2a410cbe8630524343511130d7ab4db8b3b74347",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232717_273624/window_anchor0340-0691/native_inputs/cameras/23007103/review_signoff_occluder.json": "e8452d19dd3d8c46a164a39be7b338b5661abd004d2ab738e0e19e29810d9450"
+        }
+      },
+      "outputs": {
+        "reference": {
+          "case": "session_20260921_232717_273624",
+          "grid_sample": 0,
+          "views": [
+            {
+              "index": 0,
+              "serial": "12540311",
+              "native_frame": 0,
+              "offset_ms": 0.0,
+              "object_mask_px": 13109,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 359326,
+              "object_and_union_px": 0,
+              "lifted_points": 9019,
+              "lifted_z_min_max_m": [
+                -0.0010825990102045768,
+                0.034312830719805176
+              ],
+              "uneroded_lifted_points": 13109,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0043408289987552084,
+                0.074923488058379
+              ],
+              "eroded_lifted_points": 9223,
+              "erosion_removed_points": 3886,
+              "outlier_removed_points": 204
+            },
+            {
+              "index": 1,
+              "serial": "12933256",
+              "native_frame": 0,
+              "offset_ms": 14.060033,
+              "object_mask_px": 9478,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 356708,
+              "object_and_union_px": 0,
+              "lifted_points": 7356,
+              "lifted_z_min_max_m": [
+                -0.001978190247522771,
+                0.024438584733198154
+              ],
+              "uneroded_lifted_points": 9478,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0031354348328207493,
+                0.06940477565591463
+              ],
+              "eroded_lifted_points": 7516,
+              "erosion_removed_points": 1962,
+              "outlier_removed_points": 160
+            },
+            {
+              "index": 2,
+              "serial": "17736741",
+              "native_frame": 0,
+              "offset_ms": 2.871386,
+              "object_mask_px": 13917,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 382731,
+              "object_and_union_px": 0,
+              "lifted_points": 9566,
+              "lifted_z_min_max_m": [
+                -0.0023102916076466196,
+                0.03186090529210617
+              ],
+              "uneroded_lifted_points": 13917,
+              "uneroded_lifted_z_min_max_m": [
+                -0.005025517137228097,
+                0.037007255771599246
+              ],
+              "eroded_lifted_points": 10137,
+              "erosion_removed_points": 3780,
+              "outlier_removed_points": 571
+            },
+            {
+              "index": 3,
+              "serial": "23007103",
+              "native_frame": 0,
+              "offset_ms": 9.661457,
+              "object_mask_px": 11748,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 189091,
+              "object_and_union_px": 0,
+              "lifted_points": 8857,
+              "lifted_z_min_max_m": [
+                -1.4978323693792817e-05,
+                0.030975786114584514
+              ],
+              "uneroded_lifted_points": 11748,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0032470720279594856,
+                0.03143388286837062
+              ],
+              "eroded_lifted_points": 9063,
+              "erosion_removed_points": 2685,
+              "outlier_removed_points": 206
+            }
+          ],
+          "observed_points": 34798,
+          "mask_erosion_px": 2
+        },
+        "files": {
+          "inputs/observed_cloud.npz": "7fb6c232ef47ecb4bf9b17244f199439bcd15680531fa082420073894e7e5c0f",
+          "inputs/reference_views.json": "360e52678fb24328d6395293cd47db4f9ee7c548e44079acb37fd8409b558fbe",
+          "gaussian_data/session_20260921_232717_273624/0.png": "6265b2bc0b7f2d4a9f782777af00b07cb33da89f7aa1e27a68802c1e150fe6e3",
+          "gaussian_data/session_20260921_232717_273624/mask_0.png": "53031d5e3cac8184634053eb38e5377992ba9972026a2ef85f1a0c474a3a08b8",
+          "gaussian_data/session_20260921_232717_273624/mask_human_0.png": "880381cf5f72f19783d0cc422ab35a9ab76b69b22b816cfa1af8017bbea6c9e1",
+          "gaussian_data/session_20260921_232717_273624/0_depth.npy": "cd6236ea49bf0bf99674828e5075af73ffbc8a9ceea03d767c3efda78f14ac1b",
+          "gaussian_data/session_20260921_232717_273624/1.png": "9d9064da6c5733e4f2df4ae2fce49689a2f077229b1e427e93b17327bb82977a",
+          "gaussian_data/session_20260921_232717_273624/mask_1.png": "76467cc6d08f90442bf6a613e0e1b2d751db1c5dbfeabea5617fa832a43a5314",
+          "gaussian_data/session_20260921_232717_273624/mask_human_1.png": "7d71528896934074842138550d55aaab74d48451bf11bf0a287fa362ca5a0d85",
+          "gaussian_data/session_20260921_232717_273624/1_depth.npy": "c48c70ae1b04e9d3b92788eb88e755d294b9684f4aa2805763aa093f9e550c69",
+          "gaussian_data/session_20260921_232717_273624/2.png": "f475caefb5a1f1fb94cc9d08d27de1a44b97c8ba8afea67d42ed50dce95eabbe",
+          "gaussian_data/session_20260921_232717_273624/mask_2.png": "a952994459799c7af4a2cd1f950feea8f39f8fd6370404bbf8c33c189289c432",
+          "gaussian_data/session_20260921_232717_273624/mask_human_2.png": "f5c1f563ed2a422ec3efb28551c0215c39968473af285d620962af083f064150",
+          "gaussian_data/session_20260921_232717_273624/2_depth.npy": "14360b60e486384a0f29eba42d99195f7c56cd1ef3debc090b676102e7a58cbb",
+          "gaussian_data/session_20260921_232717_273624/3.png": "9ca7308b23bea5e0f01b4f420a702f501fcc37ac88719430a45c8d0288e6ea44",
+          "gaussian_data/session_20260921_232717_273624/mask_3.png": "7e0ed58d1b1bc35ee0495bb0a77ad5726209025b1a430e3f2fc02478238e7775",
+          "gaussian_data/session_20260921_232717_273624/mask_human_3.png": "1cc40fc32ff626d98879c47d3a1d916b568e360d6bf154543171e7218d690acd",
+          "gaussian_data/session_20260921_232717_273624/3_depth.npy": "f730c6749fb33ebb62e89dd9a9888913834592abd0391ee52950c8348908cf7c",
+          "gaussian_data/session_20260921_232717_273624/camera_meta.pkl": "efcb8ba3d0275dd7b70f1c63bfe94cb83c1d440d841437e7d29d985a4d265df0",
+          "gaussian_data/session_20260921_232717_273624/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+          "gaussian_data/session_20260921_232717_273624/observation.ply": "9d24c795f500407f52a5f1c8c4af85d6aceec33786a434d17283f0a91ff9084b",
+          "spline/filter.json": "c585b3597541466966951d9e650ee8c13ae92f5c481feeb505bafab3ebfb061d",
+          "spline/filter_removed.npz": "ac5accdfa3636ab220209b92e8c529ccc1df30b68365b52d935fbfde192d0b41",
+          "spline/filtered_cloud.npz": "7ae5322bed72316fff23a9eb3bad7e138221a4b4ed1467cb8f48b9acf0f58d27"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 31.179814100265503
+    },
+    "review": {
+      "status": "ok",
+      "settings": {
+        "historical_prior": null,
+        "historical_sha256": null,
+        "baseline_fit": null
+      },
+      "outputs": {
+        "review_files": 53,
+        "files": {
+          "review/hybrid/combined.png": "881578a5060dd2efffa4df7b931a6b1424c993c18b194adec1cd60e2444ccbd4",
+          "review/hybrid/mesh.png": "1b2289697a1dffdbabec24a9c575045b438962a64ff5a63749c9fc0c6f9f0a96",
+          "review/hybrid/observed.png": "67ed29f5016be848a5522224cc277569ce06a80dfbcb303ef277ab0d99e0c810",
+          "review/inputs/depth_offset_table.json": "f5fa661de64c3f65665f0babb019590fe6a4832622e3efad72cb3ad83f647b76",
+          "review/inputs/depth_offset.png": "5d12cb1547f9f632d6c0dad012702b19b1983eea197d08ea53883ddbe1553f07",
+          "review/inputs/view_3_23007103.png": "5ec905736be2fb5881918561aa6189e526b974ad2b6ecff9caadf9979cce58ca",
+          "review/inputs/view_0_12540311.png": "2863adef39f7bd8814884f1fc1308790b862c61703b1fdceb0ef91b339acafd7",
+          "review/inputs/view_1_12933256.png": "b074869c1eae50585ac2051ae5e8487657771a021a9dd17d7123f7da096a8e5d",
+          "review/inputs/cloud_rgb.png": "ed34e2953fa91be7810b758e86a7c60c7f7d8dd9a10e05d0ddbbcc7a58ff1d4d",
+          "review/inputs/filter_removed.png": "8f118310a79b02edeb9b55f59d226c8613b25e8302f3d9757c55f4ffd273f538",
+          "review/inputs/cloud_by_view.png": "9f8ce2155cbeaad3706716ca9f813dd4351ae1102df139018aef1faf97a78aae",
+          "review/inputs/view_2_17736741.png": "ace1a68746c8ae1051b993e3a216ad313669d79a7e09836e26c6734505599385",
+          "review/rerun/headless_contact_sheet.png": "ef0f03c525c907a3c7d9586ecfcbac4bf1e206cdc66912f2010ce1c18f5e70f5",
+          "review/spline/centerline_0_with_masks.png": "98ee4a3c0f76434ee748ae5a57571d13a9a209a500caff1c63e8c0a17a8b8093",
+          "review/spline/centerline_3_unmasked.png": "de25bb2c6fcde34ef23cef88c6006b8ad7066e0b9d0ceac18cc97a5e06ca1d19",
+          "review/spline/per_view_arc_coverage.png": "4855b045740d2d5462dee3c4c72752a958c78bb2c5399c86ab1efd9beb2525fd",
+          "review/spline/fit_projections.png": "9dbcd5df94db09ba207c5679deac33a22b06cdcf70b42fe5f8a13bd008c7bb81",
+          "review/spline/centerline_1_unmasked.png": "0be60f5702470cc03b881d3728ac9f4333d4d551860f09a6e417d186588ff6c5",
+          "review/spline/centerline_2_with_masks.png": "725cffbcd3bb8ab4c9201812f192b67c11b61296138757e7898b31983ed8c151",
+          "review/spline/centerline_1_with_masks.png": "229df7687cc584cc0f9d26667896117a7f990c6acec3b0a36fa6cd113d0aedaf",
+          "review/spline/centerline_2_unmasked.png": "fa7351c97a484b4d9b639dc7ee4746aa40d829f4c7fe8ac2e85a925414f8c8d5",
+          "review/spline/round_curves.png": "0de3fa611097603f89ed71738ad2590f62e0ee1756fe6ce767016952e3674f03",
+          "review/spline/curvature_profile.png": "6cd667d57e19635a49de574e3fc5686d5f62b26258d0947bd93c666487deead5",
+          "review/spline/residual_histograms.png": "ed0f9089438f85cb6b64c4ad7ef2c8b6d2e38491a3cb257452fb6f69b7f54026",
+          "review/spline/centerline_3_with_masks.png": "1a4f0dd184078e210612b0ec9a7a12807a4d053119a935b93ff9a8c559babdba",
+          "review/spline/fit_3d.png": "380766edf9767b4419bbfeccdccd544ecf63066c329c41d04ea123866aff3fee",
+          "review/spline/centerline_0_unmasked.png": "3318305be8424cf9c04a6a29f2daa3a5fd955450c4a716adf4e1433df83b6909",
+          "review/colors/fill_swatch.txt": "a20f3ff547ae567e8de30aba268630aa1d48c6a8bdeb2dacf7230f6cb54c8d28",
+          "review/colors/view_2_visibility.png": "df8aa4d2fb74d1c6ac7416cbf24effcbcf3b63d8f75a1b3a2903ef606143ccd4",
+          "review/colors/view_1_visibility.png": "55564e03a54b3ae6a7d28798b3e4ce4aeb09e5d6bd914f3888591e9ea459103a",
+          "review/colors/visibility_and_fill.png": "eb35b82e2b3d304dfb7fd1f41b1bf2dd6d36db268ea620af4328f46fd0088595",
+          "review/colors/view_0_visibility.png": "7509d9b768436bb3178e27454cad9652ad6a80996c4e845ddb7bdfc3a29be823",
+          "review/colors/fill_swatch.png": "424f1b4369e3d530ca3735f6d609b0319fa168ea761b0e4c33967fcb490ee437",
+          "review/colors/view_3_visibility.png": "690563ea0e189980ea548ed482c3a87b8a323e4c9c5d4b7d3fac1634eac8daf0",
+          "review/ribbon/silhouette_1_unmasked.png": "28d67db48a38676f3bcb6a6f0f80095dfea73c242ff985dd1d8c921918b6dfe0",
+          "review/ribbon/silhouette_0_unmasked.png": "4c383c8bcd2df44f6853f7be9572ffd8f87cf3fda3f947c259edbba09757a4cc",
+          "review/ribbon/twist_and_width_direction.png": "e055756e92ebfcba5871b1597f786e269f42599896a8c6faaccc38aee48fdb73",
+          "review/ribbon/ribbon_profiles.png": "00bc2640a496e42c4dcf3502252b22650dcddc2251bdd09fdb18d7de268bb3f0",
+          "review/ribbon/ribbon_scale_views.png": "0583d49a5287c3da9fcf648884e741feba726b42ddae0748f5ceb84085b840f4",
+          "review/ribbon/silhouette_0_with_masks.png": "53d77ff877191ad7ac13f3378b24b12d7c875e4b8bed3d61ab6c685618d7d9b6",
+          "review/ribbon/silhouette_1_with_masks.png": "9a9a9ad88c6212c33ca7094ec989131e698d68427f66603558ee1eae2ef9c427",
+          "review/ribbon/silhouette_2_unmasked.png": "6f935262b0ca118337068c40c8c1904093f78dd43000e17df463a027f8abe902",
+          "review/ribbon/silhouette_3_with_masks.png": "8569924d990544cf878505ff9b8d1fffb1c7835f0012684f42ea154f1a0d048e",
+          "review/ribbon/silhouette_2_with_masks.png": "db1dedc0a54772ea796c3c9501c0e2c1f6b093eabb0c71285bb171d1e7489532",
+          "review/ribbon/check_table.json": "61ccae3a5a69395628ee389e94bee0293ab38e1ac75c081fdfc96e946a845df4",
+          "review/ribbon/orbit.mp4": "1ab7ba05d09d641e06a2e570555601538e7728840de966b99710cb60d2e4e2d5",
+          "review/ribbon/silhouette_3_unmasked.png": "9a89612d6a2755638d96443951faf35e0d4c3e3a661a61517e49ee4da8792764",
+          "rerun/appearance_spline_prior.rrd": "f6ac39360aad47531561549d3c661cca917e5e57fda3e99295401cd08f68a4ea"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 15.628570079803467
+    },
+    "ribbon": {
+      "status": "ok",
+      "settings": {
+        "width_m": 0.02500000037252903,
+        "step_t": 0.1,
+        "u_resolution": 5,
+        "interior": "none (owner surface-only route)"
+      },
+      "outputs": {
+        "checks": {
+          "representation": "zero-thickness intrinsic ribbon surface (open width edges)",
+          "euler_characteristic": 0,
+          "watertight": false,
+          "components": 1,
+          "winding_consistent": true,
+          "boundary_loop_edges": [
+            90,
+            90
+          ],
+          "degenerate_triangles": 0,
+          "open3d_reported_intersecting_pairs": 0,
+          "confirmed_intersecting_pairs": [],
+          "self_intersecting": false,
+          "maximum_width_error_m": 3.354810346190007e-09,
+          "maximum_midline_error_m": 4.656612873077393e-10,
+          "maximum_tangent_width_dot": 5.665867886250897e-07,
+          "seam_surface_error_m": 0.0,
+          "minimum_nonadjacent_centerline_distance_m": 0.012398939293862734,
+          "theta_min_max_rad": [
+            -0.05984014645218849,
+            0.19467806816101074
+          ],
+          "width_direction_abs_z_mean": 0.9914606514417531,
+          "triangle_area_m2": {
+            "min": 1.8897307974829245e-05,
+            "median": 2.4172296095615578e-05,
+            "mean": 2.3120593965644347e-05,
+            "max": 2.6239569981980024e-05,
+            "density_max_over_min": 1.3885348123092716
+          },
+          "bounds_m": [
+            [
+              -0.09196235984563828,
+              -0.2222164273262024,
+              -0.003393699647858739
+            ],
+            [
+              0.14095482230186462,
+              -0.02945077046751976,
+              0.023236604407429695
+            ]
+          ],
+          "width_m": 0.02500000037252903,
+          "step_t": 0.1,
+          "u_resolution": 5,
+          "passed": true
+        },
+        "vertex_count": 450,
+        "triangle_count": 720,
+        "files": {
+          "ribbon/triangle_areas.npz": "69707a25c9c9343f8a4431daace4c8f948b33aa302e3890db22aebff08124544",
+          "ribbon/geometry.npz": "c8e4f7db296c11a2a0f5d62e5987e836883ee1c075cbc311ffb6d5ad48990f2f",
+          "ribbon/ribbon_checks.json": "61ccae3a5a69395628ee389e94bee0293ab38e1ac75c081fdfc96e946a845df4"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 3.399667263031006
+    }
+  },
+  "files": {
+    "colors/color_summary.json": "b3293b44b56a07de51ac696a55081c327fe182154f8ece6a43720c72d94a9f0f",
+    "colors/vertex_colors.npz": "22a99b7189a112ff6be26e49bf4c0aa5f4593d6fa81ca1101d2f988d1dcf219b",
+    "gaussian_data/session_20260921_232717_273624/0.png": "6265b2bc0b7f2d4a9f782777af00b07cb33da89f7aa1e27a68802c1e150fe6e3",
+    "gaussian_data/session_20260921_232717_273624/0_depth.npy": "cd6236ea49bf0bf99674828e5075af73ffbc8a9ceea03d767c3efda78f14ac1b",
+    "gaussian_data/session_20260921_232717_273624/1.png": "9d9064da6c5733e4f2df4ae2fce49689a2f077229b1e427e93b17327bb82977a",
+    "gaussian_data/session_20260921_232717_273624/1_depth.npy": "c48c70ae1b04e9d3b92788eb88e755d294b9684f4aa2805763aa093f9e550c69",
+    "gaussian_data/session_20260921_232717_273624/2.png": "f475caefb5a1f1fb94cc9d08d27de1a44b97c8ba8afea67d42ed50dce95eabbe",
+    "gaussian_data/session_20260921_232717_273624/2_depth.npy": "14360b60e486384a0f29eba42d99195f7c56cd1ef3debc090b676102e7a58cbb",
+    "gaussian_data/session_20260921_232717_273624/3.png": "9ca7308b23bea5e0f01b4f420a702f501fcc37ac88719430a45c8d0288e6ea44",
+    "gaussian_data/session_20260921_232717_273624/3_depth.npy": "f730c6749fb33ebb62e89dd9a9888913834592abd0391ee52950c8348908cf7c",
+    "gaussian_data/session_20260921_232717_273624/camera_meta.pkl": "efcb8ba3d0275dd7b70f1c63bfe94cb83c1d440d841437e7d29d985a4d265df0",
+    "gaussian_data/session_20260921_232717_273624/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+    "gaussian_data/session_20260921_232717_273624/mask_0.png": "53031d5e3cac8184634053eb38e5377992ba9972026a2ef85f1a0c474a3a08b8",
+    "gaussian_data/session_20260921_232717_273624/mask_1.png": "76467cc6d08f90442bf6a613e0e1b2d751db1c5dbfeabea5617fa832a43a5314",
+    "gaussian_data/session_20260921_232717_273624/mask_2.png": "a952994459799c7af4a2cd1f950feea8f39f8fd6370404bbf8c33c189289c432",
+    "gaussian_data/session_20260921_232717_273624/mask_3.png": "7e0ed58d1b1bc35ee0495bb0a77ad5726209025b1a430e3f2fc02478238e7775",
+    "gaussian_data/session_20260921_232717_273624/mask_human_0.png": "880381cf5f72f19783d0cc422ab35a9ab76b69b22b816cfa1af8017bbea6c9e1",
+    "gaussian_data/session_20260921_232717_273624/mask_human_1.png": "7d71528896934074842138550d55aaab74d48451bf11bf0a287fa362ca5a0d85",
+    "gaussian_data/session_20260921_232717_273624/mask_human_2.png": "f5c1f563ed2a422ec3efb28551c0215c39968473af285d620962af083f064150",
+    "gaussian_data/session_20260921_232717_273624/mask_human_3.png": "1cc40fc32ff626d98879c47d3a1d916b568e360d6bf154543171e7218d690acd",
+    "gaussian_data/session_20260921_232717_273624/observation.ply": "9d24c795f500407f52a5f1c8c4af85d6aceec33786a434d17283f0a91ff9084b",
+    "gaussian_data/session_20260921_232717_273624/shape_prior.glb": "f689ceecf96d013b7f3e7ba6e03aa08b006339797651f415ece332dd7eaaef61",
+    "hybrid/populations.npz": "7e811b619bb1ae41157a88bf6a2e9e48c6864fd6b3cf19e3b958010afd1519d6",
+    "inputs/depth_offset_diagnostic.json": "f5fa661de64c3f65665f0babb019590fe6a4832622e3efad72cb3ad83f647b76",
+    "inputs/observed_cloud.npz": "7fb6c232ef47ecb4bf9b17244f199439bcd15680531fa082420073894e7e5c0f",
+    "inputs/reference_views.json": "360e52678fb24328d6395293cd47db4f9ee7c548e44079acb37fd8409b558fbe",
+    "rerun/appearance_spline_prior.rrd": "f6ac39360aad47531561549d3c661cca917e5e57fda3e99295401cd08f68a4ea",
+    "review/colors/fill_swatch.png": "424f1b4369e3d530ca3735f6d609b0319fa168ea761b0e4c33967fcb490ee437",
+    "review/colors/fill_swatch.txt": "a20f3ff547ae567e8de30aba268630aa1d48c6a8bdeb2dacf7230f6cb54c8d28",
+    "review/colors/view_0_visibility.png": "7509d9b768436bb3178e27454cad9652ad6a80996c4e845ddb7bdfc3a29be823",
+    "review/colors/view_1_visibility.png": "55564e03a54b3ae6a7d28798b3e4ce4aeb09e5d6bd914f3888591e9ea459103a",
+    "review/colors/view_2_visibility.png": "df8aa4d2fb74d1c6ac7416cbf24effcbcf3b63d8f75a1b3a2903ef606143ccd4",
+    "review/colors/view_3_visibility.png": "690563ea0e189980ea548ed482c3a87b8a323e4c9c5d4b7d3fac1634eac8daf0",
+    "review/colors/visibility_and_fill.png": "eb35b82e2b3d304dfb7fd1f41b1bf2dd6d36db268ea620af4328f46fd0088595",
+    "review/hybrid/combined.png": "881578a5060dd2efffa4df7b931a6b1424c993c18b194adec1cd60e2444ccbd4",
+    "review/hybrid/mesh.png": "1b2289697a1dffdbabec24a9c575045b438962a64ff5a63749c9fc0c6f9f0a96",
+    "review/hybrid/observed.png": "67ed29f5016be848a5522224cc277569ce06a80dfbcb303ef277ab0d99e0c810",
+    "review/inputs/cloud_by_view.png": "9f8ce2155cbeaad3706716ca9f813dd4351ae1102df139018aef1faf97a78aae",
+    "review/inputs/cloud_rgb.png": "ed34e2953fa91be7810b758e86a7c60c7f7d8dd9a10e05d0ddbbcc7a58ff1d4d",
+    "review/inputs/depth_offset.png": "5d12cb1547f9f632d6c0dad012702b19b1983eea197d08ea53883ddbe1553f07",
+    "review/inputs/depth_offset_table.json": "f5fa661de64c3f65665f0babb019590fe6a4832622e3efad72cb3ad83f647b76",
+    "review/inputs/filter_removed.png": "8f118310a79b02edeb9b55f59d226c8613b25e8302f3d9757c55f4ffd273f538",
+    "review/inputs/view_0_12540311.png": "2863adef39f7bd8814884f1fc1308790b862c61703b1fdceb0ef91b339acafd7",
+    "review/inputs/view_1_12933256.png": "b074869c1eae50585ac2051ae5e8487657771a021a9dd17d7123f7da096a8e5d",
+    "review/inputs/view_2_17736741.png": "ace1a68746c8ae1051b993e3a216ad313669d79a7e09836e26c6734505599385",
+    "review/inputs/view_3_23007103.png": "5ec905736be2fb5881918561aa6189e526b974ad2b6ecff9caadf9979cce58ca",
+    "review/rerun/headless_contact_sheet.png": "ef0f03c525c907a3c7d9586ecfcbac4bf1e206cdc66912f2010ce1c18f5e70f5",
+    "review/ribbon/check_table.json": "61ccae3a5a69395628ee389e94bee0293ab38e1ac75c081fdfc96e946a845df4",
+    "review/ribbon/orbit.mp4": "1ab7ba05d09d641e06a2e570555601538e7728840de966b99710cb60d2e4e2d5",
+    "review/ribbon/ribbon_profiles.png": "00bc2640a496e42c4dcf3502252b22650dcddc2251bdd09fdb18d7de268bb3f0",
+    "review/ribbon/ribbon_scale_views.png": "0583d49a5287c3da9fcf648884e741feba726b42ddae0748f5ceb84085b840f4",
+    "review/ribbon/silhouette_0_unmasked.png": "4c383c8bcd2df44f6853f7be9572ffd8f87cf3fda3f947c259edbba09757a4cc",
+    "review/ribbon/silhouette_0_with_masks.png": "53d77ff877191ad7ac13f3378b24b12d7c875e4b8bed3d61ab6c685618d7d9b6",
+    "review/ribbon/silhouette_1_unmasked.png": "28d67db48a38676f3bcb6a6f0f80095dfea73c242ff985dd1d8c921918b6dfe0",
+    "review/ribbon/silhouette_1_with_masks.png": "9a9a9ad88c6212c33ca7094ec989131e698d68427f66603558ee1eae2ef9c427",
+    "review/ribbon/silhouette_2_unmasked.png": "6f935262b0ca118337068c40c8c1904093f78dd43000e17df463a027f8abe902",
+    "review/ribbon/silhouette_2_with_masks.png": "db1dedc0a54772ea796c3c9501c0e2c1f6b093eabb0c71285bb171d1e7489532",
+    "review/ribbon/silhouette_3_unmasked.png": "9a89612d6a2755638d96443951faf35e0d4c3e3a661a61517e49ee4da8792764",
+    "review/ribbon/silhouette_3_with_masks.png": "8569924d990544cf878505ff9b8d1fffb1c7835f0012684f42ea154f1a0d048e",
+    "review/ribbon/twist_and_width_direction.png": "e055756e92ebfcba5871b1597f786e269f42599896a8c6faaccc38aee48fdb73",
+    "review/spline/centerline_0_unmasked.png": "3318305be8424cf9c04a6a29f2daa3a5fd955450c4a716adf4e1433df83b6909",
+    "review/spline/centerline_0_with_masks.png": "98ee4a3c0f76434ee748ae5a57571d13a9a209a500caff1c63e8c0a17a8b8093",
+    "review/spline/centerline_1_unmasked.png": "0be60f5702470cc03b881d3728ac9f4333d4d551860f09a6e417d186588ff6c5",
+    "review/spline/centerline_1_with_masks.png": "229df7687cc584cc0f9d26667896117a7f990c6acec3b0a36fa6cd113d0aedaf",
+    "review/spline/centerline_2_unmasked.png": "fa7351c97a484b4d9b639dc7ee4746aa40d829f4c7fe8ac2e85a925414f8c8d5",
+    "review/spline/centerline_2_with_masks.png": "725cffbcd3bb8ab4c9201812f192b67c11b61296138757e7898b31983ed8c151",
+    "review/spline/centerline_3_unmasked.png": "de25bb2c6fcde34ef23cef88c6006b8ad7066e0b9d0ceac18cc97a5e06ca1d19",
+    "review/spline/centerline_3_with_masks.png": "1a4f0dd184078e210612b0ec9a7a12807a4d053119a935b93ff9a8c559babdba",
+    "review/spline/curvature_profile.png": "6cd667d57e19635a49de574e3fc5686d5f62b26258d0947bd93c666487deead5",
+    "review/spline/fit_3d.png": "380766edf9767b4419bbfeccdccd544ecf63066c329c41d04ea123866aff3fee",
+    "review/spline/fit_projections.png": "9dbcd5df94db09ba207c5679deac33a22b06cdcf70b42fe5f8a13bd008c7bb81",
+    "review/spline/per_view_arc_coverage.png": "4855b045740d2d5462dee3c4c72752a958c78bb2c5399c86ab1efd9beb2525fd",
+    "review/spline/residual_histograms.png": "ed0f9089438f85cb6b64c4ad7ef2c8b6d2e38491a3cb257452fb6f69b7f54026",
+    "review/spline/round_curves.png": "0de3fa611097603f89ed71738ad2590f62e0ee1756fe6ce767016952e3674f03",
+    "ribbon/geometry.npz": "c8e4f7db296c11a2a0f5d62e5987e836883ee1c075cbc311ffb6d5ad48990f2f",
+    "ribbon/ribbon.ply": "815df146a21966028054c48e5cbf66cd88c9fb3aa71dda2924f5514d745e2142",
+    "ribbon/ribbon_checks.json": "61ccae3a5a69395628ee389e94bee0293ab38e1ac75c081fdfc96e946a845df4",
+    "ribbon/shape_prior.glb": "f689ceecf96d013b7f3e7ba6e03aa08b006339797651f415ece332dd7eaaef61",
+    "ribbon/triangle_areas.npz": "69707a25c9c9343f8a4431daace4c8f948b33aa302e3890db22aebff08124544",
+    "spline/determinism.json": "2d1f3dff8124897019517ba8ea102e38316a07a7654d0967bc09be0940784e6a",
+    "spline/filter.json": "c585b3597541466966951d9e650ee8c13ae92f5c481feeb505bafab3ebfb061d",
+    "spline/filter_removed.npz": "ac5accdfa3636ab220209b92e8c529ccc1df30b68365b52d935fbfde192d0b41",
+    "spline/filtered_cloud.npz": "7ae5322bed72316fff23a9eb3bad7e138221a4b4ed1467cb8f48b9acf0f58d27",
+    "spline/init_ellipse.json": "52899fd70284782e3f88b482e303ff02e600733f32b098616035c25939afb47b",
+    "spline/reprojection.json": "2b1fa0d175c37494724e76b5f42cb28cbf585d22efffb90845ba199428317dde",
+    "spline/reprojection_residuals.npz": "7b84801174536e753f6a93383e49aac1554a3339a0249c3494038832bf59811d",
+    "spline/residuals.npz": "bafd0cd741bb7eff25b967bc109f5e6ba2b612f0af97d0d124dda508ef32950c",
+    "spline/rounds.jsonl": "ad3f8e645120ffa10d4cd361fee7a29a2ad366bba00b5ac97790a9008f2260c0",
+    "spline/spline_fit.json": "a2e5f98ea5d4370597e7f9c2b8863cc428b4c45057ec6391289e815f51ac8383",
+    "spline/spline_init.json": "9f14bf662adf96aec3f6d22577c0b1f0b91640c2abce85d7239b7ea08e1f7b86",
+    "spline/spline_stage1.json": "8d2232c8cb4517feeaed6fd4def0999280a53a8a00f455e2de75cd18b8555415",
+    "spline/twist_trajectory.jsonl": "2a1bf359f58069d8dfbf647de6c9b50e55d64f257eaf48d8cf8c4f6da2c5aa49",
+    "spline/witness.json": "7b8b69d19e90d19bc910732039cb9c9bf51ad01e75ac47a45a8eda09dd361392",
+    "steps/colors.json": "f1ffff66c417e2eab5a8cd0bf6a5ed03ba2e426c2567a2510d7be9ef584c9b2a",
+    "steps/diagnose-depth.json": "038ae17bc94b2d1eb2d085001c8d3346d7627a839a5efc9c6cc32923e187140a",
+    "steps/fit.json": "99d3c3faa8e4129c3518cac5cbd3c0e931643dab03d6a490c121199c424f66f5",
+    "steps/hybrid.json": "cd0434c3180f694c94e96930f811fa4dfce919171ffe8dce9510b13d32d58622",
+    "steps/inputs.json": "470306f87436287f93720675a6ba354968c4aec4f74be20a0dc0026af0ebb2d4",
+    "steps/review.json": "152d0c4aefb9d9f9e0804f837251112d2b0000a2aeec0663f1b0a85ef846e018",
+    "steps/ribbon.json": "b70b9e4d2ed4507113e0382c1906388e777a345348413cfa4e7b3f5d781a52d9"
+  }
+}

sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/rerun/appearance_spline_prior.rrd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ac39360aad47531561549d3c661cca917e5e57fda3e99295401cd08f68a4ea
+size 25215394

sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/review/colors/fill_swatch.txt

@@ -0,0 +1,2 @@
+Per-channel median of 405 observed vertex colours (RGB/255): [0.4130485070194236, 0.3501026043110393, 0.2935920691021704]
+Filled 45 vertices.

sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/review/ribbon/check_table.json

@@ -0,0 +1,48 @@
+{
+  "representation": "zero-thickness intrinsic ribbon surface (open width edges)",
+  "euler_characteristic": 0,
+  "watertight": false,
+  "components": 1,
+  "winding_consistent": true,
+  "boundary_loop_edges": [
+    90,
+    90
+  ],
+  "degenerate_triangles": 0,
+  "open3d_reported_intersecting_pairs": 0,
+  "confirmed_intersecting_pairs": [],
+  "self_intersecting": false,
+  "maximum_width_error_m": 3.354810346190007e-09,
+  "maximum_midline_error_m": 4.656612873077393e-10,
+  "maximum_tangent_width_dot": 5.665867886250897e-07,
+  "seam_surface_error_m": 0.0,
+  "minimum_nonadjacent_centerline_distance_m": 0.012398939293862734,
+  "theta_min_max_rad": [
+    -0.05984014645218849,
+    0.19467806816101074
+  ],
+  "width_direction_abs_z_mean": 0.9914606514417531,
+  "triangle_area_m2": {
+    "min": 1.8897307974829245e-05,
+    "median": 2.4172296095615578e-05,
+    "mean": 2.3120593965644347e-05,
+    "max": 2.6239569981980024e-05,
+    "density_max_over_min": 1.3885348123092716
+  },
+  "bounds_m": [
+    [
+      -0.09196235984563828,
+      -0.2222164273262024,
+      -0.003393699647858739
+    ],
+    [
+      0.14095482230186462,
+      -0.02945077046751976,
+      0.023236604407429695
+    ]
+  ],
+  "width_m": 0.02500000037252903,
+  "step_t": 0.1,
+  "u_resolution": 5,
+  "passed": true
+}

sessions/session_20260921_232717_273624/preprocessing/timing-belt-ribbon-prior-v1/native/review/ribbon/orbit.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ab7ba05d09d641e06a2e570555601538e7728840de966b99710cb60d2e4e2d5
+size 1016683