diff --git a/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_package_result.json b/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_package_result.json new file mode 100644 index 0000000000000000000000000000000000000000..3342e165c4900e7653a8e3a80d32b39becc766b1 --- /dev/null +++ b/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" +} diff --git a/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review.log b/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review.log new file mode 100644 index 0000000000000000000000000000000000000000..c10f116c148dfd4b63a6c587e95d5c46fe408be8 --- /dev/null +++ b/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 diff --git a/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_argv.json b/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..09070319d5b2a0e13e292d4614d4a4904a7900b9 --- /dev/null +++ b/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" +} diff --git a/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_result.json b/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_result.json new file mode 100644 index 0000000000000000000000000000000000000000..044a48f9861052e9f60dbd3f797bd66bbc0d59be --- /dev/null +++ b/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" +} diff --git a/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..f61b09baea773d1030419e8be83afce11daa3830 --- /dev/null +++ b/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]() and the [orbit contact sheet](). 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](). + +| 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. diff --git a/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_v1/agent_findings.json b/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_v1/agent_findings.json new file mode 100644 index 0000000000000000000000000000000000000000..a27629bb859a0d088f8d59804bfca728e365b679 --- /dev/null +++ b/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" +} diff --git a/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_v1/orbit_contact_sheet.png b/sessions/session_20260921_232051_069484/preprocessing/c6a-black-padding-preparation-v2/native/prior_review_v1/orbit_contact_sheet.png new file mode 100644 index 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