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3a48626 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 | # move_can_pot seed 100005 — real mask tracking (poselib + OWLv2)
`move_can_pot_100005_mask.mp4` — every frame's SAM2 mask overlay for the actual
sim episode (mask_backend=groundingdino, detector=owlv2, occlusion recovery ON).
magenta = can (obj1), cyan = pot (obj2); the number is each mask's pixel area.
## Finding: NO occlusion failure in this run
The can mask stays correctly on the pink can the WHOLE episode (area 371-2237 px,
never empty). It dips to ~371 px during the grasp (gripper partially covers the
can) but never loses lock; pot stays tracked throughout. Episode SUCCEEDs.
Occlusion recovery fired 0 times — there is nothing to recover here.
Sample frames: f0001 (start, can=1724), f0049 (grasp, can=703 partial), f0066
(end, can=1758, held beside the pot).
So in sim, move_can_pot 100005 does not reproduce a mask-loss occlusion. The
recovery mechanism itself is verified separately (controlled black-out: area
3490 -> 0 -> recovered 3490). The mask-tracking failure reported on the real
robot comes from real appearance/position drift during occlusion, which clean
sim frames here don't produce.
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