sessions/session_20260921_232051_069484/preprocessing/mask-supplier-window-anchor0253-0387: payload batch 1/1

sessions/session_20260921_232051_069484/preprocessing/mask-supplier-window-anchor0253-0387/native/C6A_REVIEW.md

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+# session_20260921_232051_069484: C6a proposal review
+
+**Status: agent proposal; owner mask/window/contact decisions pending.**
+
+Object: taped round belt. Motion: right-handed push along major axis along table.
+Current packet anchor converted frames: **253–387 inclusive**.
+Current packet endpoint sync timestamps: `1790047286872178542` / `1790047291354340803` ns.
+Participating identities: `hand_A`; A is the right, bracelet-wearing hand, B the left.
+Hands mean visible bare forearm through fingertips, excluding bracelet/sleeve. Occluder means the whole visible person, including clothing, accessories and nonparticipating hands.
+
+C1 evidence: `/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_proposal_c1/proposal.json`.
+
+## Exact own-camera mapping
+
+| Camera | Window-local t | Converted frames | Native container frames | First / last capture timestamp ns |
+|---|---|---|---|---|
+| 12540311 | 0–134 | 253–387 | 254–388 | 1790047286872178542 / 1790047291354340803 |
+| 12933256 | 0–134 | 252–386 | 253–387 | 1790047286862518062 / 1790047291345716350 |
+| 17736741 | 0–134 | 253–387 | 254–388 | 1790047286886079424 / 1790047291368012158 |
+| 23007103 | 0–134 | 252–386 | 253–387 | 1790047286864168289 / 1790047291347067318 |
+
+## Review products
+
+The newest completed media for each view/role currently present are listed below. A correction directory may cover only its changed views/roles; its media_index.json lists the exact coverage. Earlier prompts, propagation runs and media remain on disk. A new correction can make an older media directory historical; use current supplier admission before signoff or downstream processing.
+
+- Views 12540311, 12933256, 17736741, 23007103: [object](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0253-0387/review_media_c6a_v2/role_object.mp4), [hand_A](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0253-0387/review_media_c6a_v2/role_hand_A.mp4), [hand_B](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0253-0387/review_media_c6a_v2/role_hand_B.mp4), [occluder](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0253-0387/review_media_c6a_v2/role_occluder.mp4); [start context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0253-0387/review_media_c6a_v2/boundary_start.mp4), [end context](/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_232051_069484/window_anchor0253-0387/review_media_c6a_v2/boundary_end.mp4).
+
+`review_sheets_c6a_v1/index.json` records sampled native-source overlays, every tenth capture plus endpoints/quartiles. Their existence is not a claim that every sheet has been inspected; the task report states actual reviewer coverage.
+
+## Decisions and downstream boundary
+
+This card records the decisions above and grants no additional stage. Actual owner mask/window decisions must be recorded before final tracking. The three pushes also require an explicit decision about the fixed material-attachment approximation. After prompt corrections, perform fresh current-input admission; an old fitting identity alone does not detect every C1 F3 correction.
+
+C6a review findings and decisions are collected under `lab/c6a_20261027/`; source C1 records and protected A/B inputs remain unchanged.

sessions/session_20260921_232051_069484/preprocessing/mask-supplier-window-anchor0253-0387/native/README.md

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+# session_20260921_232051_069484 — C1 agent mask/window proposal
+
+**Status: AGENT PROPOSAL, pending owner review. Nothing here is owner-accepted.**
+
+- Literal description: object `taped round belt`; motion `right-handed push along major axis along table`; notes `human standing to left of franka`.
+- Proposed window: anchor `zed_12540311_left_rgb` converted frames **253–387 inclusive**, start/end `sync_time_ns` 1790047286872178542 / 1790047291354340803 (end is the last included frame; the sidecar stores the anchor overlap-grid half-open sync interval [253, 388)).
+- Window rationale (inspection agent): Index fingertip approaches the outside of the person-side end of the loop (end of the major axis): 12933256 single frames show a gap 238-245 and touching from ~248-250; anchor zoom shows fingertip touching by 252-254. 253 = first anchor frame with contact in both views. The loop stays still until ~264-266 (anchor zoom: near edge static 250-264, moving from 266), then slides along the table away from the person as the fingertip pushes (anchor stride-6 scan 268-388). Fingertips remain on the same end through 387; at 388 the fingertip is at the loop edge (ambiguous), at 389 a gap is visible and 390-397 the hand withdraws with blur. 387 = last frame with clear contact.
+- Participating hands: hand_A (hand_A = person's right hand, wearing the bracelet). The other identity is proposed as a reviewed absence over the whole window; its visible pixels belong to the occluder.
+- Per-camera native counts: 12540311 135, 12933256 135, 17736741 135, 23007103 135 (anchor T=135; rectangular `per_camera_native_range` accepted).
+
+## Frames and index mappings
+
+`inspection/frames.npz` (`per_camera_native_range`; consecutive captures per camera):
+
+| camera | converted | native container | first/last view time ns | T |
+|---|---|---|---|---|
+| 12540311 | 253–387 | 254–388 | 1790047286872178542 / 1790047291354340803 | 135 |
+| 12933256 | 252–386 | 253–387 | 1790047286862518062 / 1790047291345716350 | 135 |
+| 17736741 | 253–387 | 254–388 | 1790047286886079424 / 1790047291368012158 | 135 |
+| 23007103 | 252–386 | 253–387 | 1790047286864168289 / 1790047291347067318 | 135 |
+
+## Review media
+
+`review_media_v1/`: `role_object.mp4`, `role_hand_A.mp4`, `role_hand_B.mp4`, `role_occluder.mp4` (2x2 views, every window frame, 10 fps, frame/time labels); `boundary_start.mp4` / `boundary_end.mp4` (15 captures before/after each end per camera, 5 fps, unmasked outside the window); `difficult_t*.png` (every role, every view): difficult_t0000.png, difficult_t0013.png, difficult_t0040.png, difficult_t0080.png, difficult_t0120.png, difficult_t0134.png.
+Prompt overlays with native-pixel markers: `proposal_overlays_v*/<serial>/<instance>_tNNNN.png` and `proposal_summary.json`.
+
+## Agent corrections before review (originals kept as earlier versions/runs)
+
+- Residual (independent audit F2 sweep): a small top-edge head piece in 12540311 at t~80-89 is uncovered; from t~90 the existing run covers the head. A point there captured a floor cable, so no prompt was added.
+
+## Difficult frames and uncertainties
+
+- Push, not a grasp: an index fingertip pushes the outside of the loop; the loop is still until ~266 and then slides.
+- Owner choice pending: start at first contact 253 (proposed) or at the start of motion 266 (alternative, also rectangular, T=122).
+- Fixed attachment is a weak approximation for a one-sided fingertip push; the owner decides whether the push suits this fit.
+- Window inspection: anchor 246-254 (12540311, 12933256): contact onset: fingertip-to-tube gap of a few pixels
+- Window inspection: anchor 264-268 (12540311): push-motion onset (alternative start)
+- Window inspection: anchor 253-387 (12540311, 12933256, 17736741): contact region small; fingertip occludes the pushed end of the tube
+- Window inspection: anchor 386-390 (12540311, 12933256): release; fingertip separation of a few pixels, then fast withdrawal with motion blur 390-397
+- Push contact is unilateral and may slide along the tube; the fixed-attachment approximation is weaker than for the grasp sessions (owner decision).
+- Start choice: first contact (253, static loop) vs. motion onset (266).
+- End frame 387 vs 388 (marginal contact at 388).
+- Alternative window (owner choice): anchor 266–387: Start at push-motion onset: loop translation first visible in the anchor zoom between 264 and 266. Drops ~13 frames of static fingertip contact (253-265) in which the loop does not move; choose this if the owner wants the window to start when the controller is actually driving the object.
+
+## Owner actions
+
+1. Watch the role videos and boundary clips; check that the same hand-to-material attachment and the participating hands persist, and that thin, crossing or folded segments survive.
+2. To correct a prompt: `phystwin_real_rgbd.py annotate ... --output <annotations> --masks <masks>`, select the frame/instance, **Load saved prompt as draft**, edit, preview, accept with supersede ticked, then `propagate` only that view/instance range and rerun `review-media` into a new directory.
+3. To accept: two `signoff` records with your literal decision text (object + hands, and occluder), as in plan §6.
+Window, hand and capture-association changes rebind the frames and need new masks; depth/calibration-only changes do not.

sessions/session_20260921_232051_069484/preprocessing/mask-supplier-window-anchor0253-0387/native/annotations/prompts/12540311/hand_A/t0000_v01.json

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+{
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+  "source": "agent:c1_claude_20261026",
+  "note": "right (pushing) hand, bare forearm to fingertips; bracelet negative",
+  "seed_mask_file": "t0000_v01_seed_mask.npz",
+  "seed_mask_sha256": "55756b3d9555ea532c5bf3499cfd80423615c4ee1cea1fbead0fb57f79e8b96b",
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+    "checkpoint": "/mnt/data2/magna/belt_perception/third_party/phystwin_external/checkpoints/sam2.1_hiera_large.pt",
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+      "clean": true
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+    "build": "build_sam2_video_predictor(apply_postprocessing=True)",
+    "fill_hole_area": 0,
+    "binarize_mask_from_pts_for_mem_enc": true,
+    "non_overlap_masks": false,
+    "image_size": 1024,
+    "frame_preprocessing": "decoded native RGB, PIL default resize to image_size^2, /255, ImageNet mean/std (no JPEG)",
+    "coordinate_normalization": "native (u, v) / (W, H) * image_size (normalize_coords=True)",
+    "mask_logit_threshold": 0.0,
+    "autocast": "bfloat16",
+    "tf32": true,
+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-26T13:04:07Z"
+}

sessions/session_20260921_232051_069484/preprocessing/mask-supplier-window-anchor0253-0387/native/annotations/prompts/12540311/hand_A/t0000_v01_seed_mask.npz

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sessions/session_20260921_232051_069484/preprocessing/mask-supplier-window-anchor0253-0387/native/annotations/prompts/12540311/hand_B/t0000_v01.json

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+  "schema": "real_rgbd_instance_prompt_v1",
+  "binding": {
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+  "serial": "12540311",
+  "view_index": 0,
+  "instance": "hand_B",
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+  "labels": [],
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+  "source": "agent:c1_claude_20261026",
+  "note": "nonparticipating left hand: not a controller; any visible pixels belong to the occluder",
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sessions/session_20260921_232051_069484/preprocessing/mask-supplier-window-anchor0253-0387/native/annotations/prompts/12540311/object/t0000_v01.json

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+    "device": "cuda",
+    "torch": "2.11.0+cu128"
+  },
+  "created_utc": "2026-10-26T13:04:07Z"
+}

sessions/session_20260921_232051_069484/preprocessing/mask-supplier-window-anchor0253-0387/native/annotations/prompts/12540311/object/t0000_v01_seed_mask.npz

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sessions/session_20260921_232051_069484/preprocessing/mask-supplier-window-anchor0253-0387/native/annotations/prompts/12540311/occluder/t0000_v01.json

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