sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2: payload batch 4/4

sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_package_result.json

@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 0.3274920610128902,
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "completed_utc": "2026-10-29T17:30:00.500542+00:00"
+}

sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review.log

@@ -0,0 +1 @@
+review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_orange_v1/steps/review.json

sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_argv.json

@@ -0,0 +1,22 @@
+{
+  "argv": [
+    "uv",
+    "run",
+    "--no-sync",
+    "python",
+    "-B",
+    "scripts/real_rgbd_appearance_spline_prior.py",
+    "review",
+    "--run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_orange_v1"
+  ],
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "cwd": "/mnt/data0/magna/belt_perception_wt_c6a_residual_decisions_20261029",
+  "environment": {
+    "JAX_PLATFORMS": "cpu",
+    "CUDA_VISIBLE_DEVICES": "",
+    "OMP_NUM_THREADS": "1",
+    "PYTHONDONTWRITEBYTECODE": "1"
+  },
+  "started_utc": "2026-10-29T17:29:25.795723+00:00"
+}

sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_result.json

@@ -0,0 +1,6 @@
+{
+  "returncode": 0,
+  "wall_seconds": 23.1833858040045,
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "completed_utc": "2026-10-29T17:29:48.979340+00:00"
+}

sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md

@@ -0,0 +1,43 @@
+# session_20260921_232051_069484 — agent reviewed; owner prior accepted by owner on 2026-10-29
+
+Saved C2 **orange_round_belt** prior evidence (radius 2.95 mm). Bounded agent numeric and visual review is complete; owner prior approval remains pending. The four initial RGB overlays and all 36 orbit frames show a coherent closed tube, while camera-dependent depth scatter and hand occlusion remain limitations. See [agent findings](<agent_findings.json>) and the [orbit contact sheet](<orbit_contact_sheet.png>). This review 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](<prior_metrics.json>).
+
+| Camera | Local / converted / native | Centerline / geometry / native input |
+|---|---|---|
+| 12540311 | 0 / 260 / 261 | [centerline](<../prior_orange_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_0_12540311.png>) |
+| 12933256 | 1 / 260 / 261 | [centerline](<../prior_orange_v1/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_1_12933256.png>) |
+| 17736741 | 0 / 260 / 261 | [centerline](<../prior_orange_v1/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_2_17736741.png>) |
+| 23007103 | 1 / 260 / 261 | [centerline](<../prior_orange_v1/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_3_23007103.png>) |
+
+[Full rotation video](<../prior_orange_v1/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_orange_v1/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_orange_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_orange_v1/review/inputs/depth_offset.png>)
+
+Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **642.744 mm**, maximum curvature **15.895/m**, final gradient norm **7.97767e-05**. Soft length bounds are 635.000–660.000 mm; distance outside those bounds is 0.000 mm.
+
+Saved geometry checks report `passed=True`: **864 mesh vertices / 1728 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_orange_v1/tube/tube_checks.json>).
+
+The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision.
+
+| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence |
+|---|---|---|---|
+| 12540311 | 6.072 / 8.954 | 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 | 5.554 / 7.094 | 100.00% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) |
+| 17736741 | 9.075 / 10.918 | 100.00% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) |
+| 23007103 | 7.811 / 10.851 | 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 **16809 of 17654** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**.
+
+Appearance initialization contains **16809 observed + 51840 mesh-derived = 68649 seeds**. Vertex colors are observed for 617 mesh vertices and median-filled for 247. 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_orange_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_orange_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_orange_v1/manifest.json>) · [Fit settings and metrics](<../prior_orange_v1/steps/fit.json>) · [Reference observations](<../prior_orange_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>)
+
+Agent review cross-checked the saved numeric sources, inspected all four initial tube overlays, geometry/depth plots, color/seed evidence and all 36 saved orbit frames. Lifted-depth median distances to the centerline span 5.55–9.07 mm; the depth cloud is visibly scattered above the tube. These residuals and visible-mask agreement do not establish physical accuracy or persistent contact. The fitted mesh extends from −0.923 to 6.131 mm in saved world z; no table-height correction was applied. Maximum curvature 15.895/m exceeds the 10/m soft penalty threshold on 46% of evaluated samples, which is not a hard geometry limit. The owner accepted this prior on 2026-10-29. No case status, prior acceptance, mechanics approval or trained-appearance approval is changed here.
+
+## Owner judgment
+
+The owner accepted this reviewed prior with “I approve for both” on 2026-10-29. [Exact accepted artifact](../../../owner_prior_acceptance_c6a_v1.json). The limitations above remain; mechanical/static-appearance preparation is authorized. No trained appearance or physical fit is accepted by this decision.

sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_v1/agent_findings.json

@@ -0,0 +1,88 @@
+{
+  "case": "session_20260921_232051_069484",
+  "code": "b1c2893d12aeadc413aeb812e765230dbad431d9",
+  "purpose": "Bounded numeric and visual review of the saved C2 orange initial prior after approved black-padding continuation; no owner acceptance or clearance for downstream mechanics or trained appearance.",
+  "review_status": "agent reviewed; owner prior approval pending",
+  "owner_prior_approval": "pending",
+  "numerical_checks": "Packaged final fit, geometry checks and vertex-color counts exactly match their source JSONs; per-view kept points, total filtered/removed points, seed and vertex-color totals agree; every linked view, media and source path exists. All 36 orbit frames decoded to the retained contact sheet.",
+  "observed": {
+    "fit_rounds": 1,
+    "fit_stop": "gradient_tolerance",
+    "gradient_norm": 7.97767352196388e-05,
+    "arclength_mm": 642.7435278892517,
+    "maximum_curvature_per_m": 15.895318031311035,
+    "curvature_above_soft_10_per_m_fraction": 0.46,
+    "mesh_vertices": 864,
+    "mesh_triangles": 1728,
+    "mesh_components": 1,
+    "watertight": true,
+    "self_intersecting": false,
+    "visible_centerline_inside_mask_fraction_by_camera": {
+      "12540311": 1.0,
+      "12933256": 1.0,
+      "17736741": 1.0,
+      "23007103": 1.0
+    },
+    "depth_point_to_centerline_median_mm_by_camera": {
+      "12540311": 6.071725161746144,
+      "12933256": 5.554276518523693,
+      "17736741": 9.074537549167871,
+      "23007103": 7.8114832285791636
+    },
+    "depth_point_to_centerline_p90_mm_by_camera": {
+      "12540311": 8.954489696770906,
+      "12933256": 7.094328477978706,
+      "17736741": 10.917707812041046,
+      "23007103": 10.850842949002981
+    },
+    "belt_depth_minus_local_table_mm_by_camera": {
+      "12540311": 7.964516437719949,
+      "12933256": 4.823113128069156,
+      "17736741": 8.52072913995261,
+      "23007103": 6.545766670399411
+    },
+    "geometry_z_bounds_mm": [
+      -0.9225027170032263,
+      6.131023168563843
+    ],
+    "vertex_colors": {
+      "observed_vertices": 617,
+      "filled_vertices": 247
+    },
+    "appearance_seed_counts": {
+      "observed": 16809,
+      "mesh": 51840,
+      "total": 68649,
+      "mesh_to_observed": 3.0840621095841514
+    },
+    "depth_correction_applied": false
+  },
+  "visual_files_inspected_relative_to_preparation": [
+    "prior_orange_v1/review/tube/silhouette_0_unmasked.png",
+    "prior_orange_v1/review/tube/silhouette_1_unmasked.png",
+    "prior_orange_v1/review/tube/silhouette_2_unmasked.png",
+    "prior_orange_v1/review/tube/silhouette_3_unmasked.png",
+    "prior_orange_v1/review/tube/tube_scale_views.png",
+    "prior_orange_v1/review/inputs/depth_offset.png",
+    "prior_orange_v1/review/spline/fit_projections.png",
+    "prior_orange_v1/review/colors/visibility_and_fill.png",
+    "prior_orange_v1/review/hybrid/combined.png",
+    "prior_orange_v1/review/rerun/headless_contact_sheet.png",
+    "prior_orange_v1/review/inputs/view_2_17736741.png",
+    "prior_orange_v1/review/spline/centerline_3_with_masks.png",
+    "prior_orange_v1/review/spline/curvature_profile.png",
+    "prior_review_v1/orbit_contact_sheet.png"
+  ],
+  "visual_observation": "All four initial RGB overlays show a continuous closed tube following the visible orange-belt contour with no gross collapse or displaced lobe. The orbit contact sheet covers all 36 saved frames and shows a smooth, nearly planar closed shape. The geometry/depth and hybrid views show substantial camera-dependent depth spread above the fitted tube; this disagreement is retained. The color review identifies median-filled vertices primarily on the underside rather than measured surface colors there. Hand occlusion remains present near the contact region; visible-mask agreement cannot validate that hidden surface.",
+  "conclusion": "The saved prior is numerically complete and visually coherent as an initial geometric prior for owner review. It is not accepted by this review, and no physical-accuracy or learned-dynamics claim follows.",
+  "limitations": [
+    "Image inspection is bounded to the listed views and all saved orbit frames; the earlier reference review sampled native/derived motion and is not continuous frame-by-frame playback.",
+    "The 100% visible centerline-in-mask fraction is not silhouette IoU and says nothing about occluded geometry or absolute depth accuracy.",
+    "Lifted-depth point-to-centerline residuals include surface-to-centerline separation, depth error and model mismatch; they are not measured reconstruction errors. Median values span 5.55-9.07 mm, with camera-dependent vertical scatter visible in the geometry plots.",
+    "The fitted tube z bounds extend from -0.923 to 6.131 mm in the saved coordinate frame. Neither table contact nor an absolute table-height correction has been established or applied.",
+    "The maximum curvature is 15.895/m and 46% of evaluated samples exceed the 10/m soft penalty threshold; this is a penalized regularizer, not a violated hard geometry bound.",
+    "617 vertex colors are observed and 247 are median-filled; the 68,649 initialization seeds are not trained appearance or mechanical particles.",
+    "Prior owner acceptance and push-contact interpretation remain pending before any downstream mechanics or trained-appearance work."
+  ],
+  "reference_review": "../review_v1/agent_findings.json"
+}

sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_v1/prior_metrics.json

@@ -0,0 +1,488 @@
+{
+  "session_id": "session_20260921_232051_069484",
+  "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_orange_v1",
+  "owner_prior_approval": "pending",
+  "visual_quality_assessment": "bounded agent review completed; owner approval pending; see agent_findings.json",
+  "object": {
+    "name": "orange_round_belt",
+    "representation": "tube",
+    "fitter_source": "spline_estimation.round_belt_backend (accepted A/B priors)",
+    "dimension_source": "owner 2.95 mm cord radius (RP S-E, 2026-09-26)",
+    "radius_m": 0.00295,
+    "ribbon_width_m": null,
+    "step_t": 0.125,
+    "step_angle_deg": 30,
+    "u_resolution": null,
+    "overlap_rule": "ring_separation",
+    "twist_penalty": null
+  },
+  "initial_grid_sample": 0,
+  "views": [
+    {
+      "serial": "12540311",
+      "view_index": 0,
+      "selected_window_local_index": 0,
+      "converted_frame": 260,
+      "native_container_frame": 261,
+      "official_frame": 260,
+      "depth_frame": 260,
+      "capture_timestamp_ns": 1790047287105926840,
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+      "initial_observed_depth_points": 4650,
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+      "visible_centerline_inside_mask_fraction": 1.0,
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+        "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_orange_v1/review/tube/silhouette_0_unmasked.png",
+        "geometry_with_mask": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_orange_v1/review/tube/silhouette_0_with_masks.png",
+        "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_orange_v1/review/inputs/view_0_12540311.png",
+        "native_rgb_depth_video": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/review_v1/12540311/rgb_waft_depth_full_window.mp4",
+        "visibility_certainty": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/review_v1/12540311/12540311_visibility_certainty.png",
+        "support_rejections": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/review_v1/12540311/support_and_rejections.png",
+        "paired_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/review_v1/12540311/paired_depth.png"
+      }
+    },
+    {
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+      "native_container_frame": 261,
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+      "depth_frame": 260,
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+      "initial_observed_depth_points": 4549,
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+        },
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+        ],
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+        "paired_common_min_max": [
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+          4503
+        ]
+      },
+      "links": {
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+        "geometry_overlay": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_orange_v1/review/tube/silhouette_1_unmasked.png",
+        "geometry_with_mask": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_orange_v1/review/tube/silhouette_1_with_masks.png",
+        "initial_rgb_depth": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_orange_v1/review/inputs/view_1_12933256.png",
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sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_tube.log

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+tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0260-0385/accepted_input_preparation_c6a_v1/black_padding_preparation_v2/prior_orange_v1/steps/tube.json

sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_tube_argv.json

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+{
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+}

sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_tube_result.json

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