move_can_pot 100005 real mask tracking (no occlusion in sim; can stays 371-2237px)

move_can_pot_100005_mask_tracking/README.md

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+# 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.

move_can_pot_100005_mask_tracking/move_can_pot_100005_mask.mp4

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