feat: finish Stage 2B continuous sorter realism and local deploy

Unify CAD conveyor on / and /details, add RealSense D435i + contact paddle
physics, keep items moving through scan, lock 7×10 drop validation, and
ship Stage 2 artifacts with production on :3100 (permanent HTTPS still blocked).

Co-authored-by: Cursor <cursoragent@cursor.com>

docs/stage2_real_sorter/README.md

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+# Stage 2 — Real Sorter Simulation
+
+Artifacts for the OZON Tech Sorter Simulation (CAD conveyor, continuous scan,
+angled paddle physics, RealSense D435i, public deploy).
+
+## Status
+
+See `STAGE2_REPORT.md`. Current finalization status:
+`PARTIAL_REAL_SORTER_SIMULATION` / `BLOCKED_BY_DEPLOYMENT_ACCESS` for the
+permanent HTTPS hostname.
+
+## Key files
+
+| File | Purpose |
+|---|---|
+| `cad-inventory.json` | GLB path, 42 nodes, sizes |
+| `cad-conversion-pipeline.md` | FCStd → Draco GLB |
+| `mechanism-map.md` | Angled paddle diverter |
+| `camera-realsense-spec.md` | D435i SPEC_DERIVED + FOV |
+| `continuous-measurement.md` | Position-based scan window |
+| `physics-architecture.md` | Hybrid kinematic → dynamic |
+| `physics-profiles.json` | Per-SKU Rapier profiles |
+| `drop-validation.json` | 7 routes × 10 runs |
+| `real-sorter-validation.json` | Checklist results |
+| `deployment-report.md` | Docker / DNS / tunnel |
+| `public-domain-smoke.json` | Domain smoke facts |
+| `console-errors.json` | Captured console state |
+| `performance-cad-*.json` | Perf budgets |
+| `bundle-impact.md` | Bundle sizes |
+| `screenshots/` | 18 required views |
+| `videos/` | Capture instructions (WebM pending real recorder) |
+
+## Reproduce drop validation
+
+```bash
+npx tsx scripts/drop-validation.mts
+```

docs/stage2_real_sorter/STAGE2_REPORT.md

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+# STAGE 2 REPORT — Final Realism / Continuous Sorting / Public Mobile
+
+## 1. STAGE_2_STATUS
+
+**PARTIAL_REAL_SORTER_SIMULATION** + **BLOCKED_BY_DEPLOYMENT_ACCESS**
+
+Local product is ready (CAD conveyor unified, continuous scan, physical paddle
+contact, 7/7 drop validation 10/10, RealSense SPEC_DERIVED). Permanent HTTPS
+hostname `sorter.arhipovdan.ru` is blocked by external openresty/DNS. Real phone
+not tested.
+
+## 2. EXECUTIVE_SUMMARY
+
+- Conveyor: single CAD GLB (`conveyor-web.glb`, 544 KB, ~159k tris, 42 nodes) on `/` and `/details`.
+- Volumetric: REAL_CAD solids for frame/rollers/motor/gate; SPEC_DERIVED paddle + D435i + chutes.
+- RealSense D435i: datasheet-derived housing, lens-down on gantry, FOV debug overlay.
+- Continuous measurement: item never stops under camera; `scanProgress` from position.
+- Sorting: angled paddle kinematic body; contact-based C/D routing.
+- Drop validation: **7/7 PASS**, 10/10 each, pusher contact asserted, no teleports.
+- Domain classifier unchanged.
+- Public domain: production on `:3100` + Quick Tunnel; `sorter.arhipovdan.ru` TLS/vhost absent.
+- Phone: NOT_TESTED_ON_REAL_PHONE (SVG + Mobile Low policies covered in e2e).
+
+## 3. GIT_SAFETY
+
+- Branch: `feature/ozon-sorter-stage-2-real-machine`
+- Backup: `/tmp/ozone-before-stage2-finalization/`
+- Tag: `backup/pre-stage2-finalization-*`
+- Checkpoint Stage 0+1 preserved (`394c513`)
+- No force-push / reset / stash
+
+## 4. CAD_AND_GEOMETRY
+
+| Node group | Source | Volume | Runtime | Result |
+|---|---|---|---|---|
+| static-frame | REAL_CAD | solids | ConveyorCadModel | PASS |
+| rollers | REAL_CAD | solids, spin animated | ConveyorCadModel | PASS |
+| motor-and-drive | REAL_CAD | solids | ConveyorCadModel | PASS |
+| conveyor-belt | REAL_CAD | solids | ConveyorCadModel | PASS |
+| inspection-frame | REAL_CAD | solids | ConveyorCadModel | PASS |
+| stop-gate | REAL_CAD | solids, lift stroke | ConveyorCadModel | PASS |
+| pusher-servo (CAD) | REAL_CAD visual | — | present in GLB | PARTIAL (runtime uses SPEC_DERIVED paddle) |
+| angled paddle | SPEC_DERIVED | volumetric | PusherMechanism | PASS |
+| RealSense D435i | SPEC_DERIVED | volumetric | RealSenseD435i | PASS |
+| chutes / cages | SPEC_DERIVED | volumetric | Continuous scene | PASS |
+
+Old twin deleted: `SorterDigitalTwin`, `Conveyor3D`, `Actuator3D`, `SensorRig3D`, `SortingZones3D`.
+
+## 5. REALSENSE_D435I
+
+See `camera-realsense-spec.md`. Optical axis −Y, optical height 0.65 m above belt,
+laser separate. Debug frustum via `?debug=1&physics=1`.
+
+## 6. CONTINUOUS_MEASUREMENT
+
+| | Old | New |
+|---|---|---|
+| Under camera | dwell / stop | continuous 1.0 m/s |
+| scanProgress | time-based | position (`SCAN_START_X`…`SCAN_END_X`) |
+| Classification deadline | — | before `MECHANISM_CONTACT_X` |
+
+Tests: `continuousMeasurement.test.ts` — beltVelocity > 0, item x increasing.
+
+## 7. SORTING_MECHANISM
+
+See `mechanism-map.md`. Driven by `physicsSimClock` (Rapier steps), not domain
+wall clock — prevents tunneling under render lag.
+
+## 8. PHYSICS
+
+- Hybrid: kinematic belt → dynamic at junction → freeze after rest/sleep.
+- Handoff checked **before** kinematic drive (no lag teleport).
+- Settle budget in physics seconds (`SETTLE_BUDGET_SEC`).
+- Profiles: `visualPhysicsProfiles.ts` (+ SKU-005 pouf).
+- Deterministic headless sim mirrors runtime.
+
+## 9. DROP_VALIDATION
+
+| SKU | Zone | Runs | Correct | Penetrations | Teleports | Pusher | Result |
+|---|---|---|---|---|---|---|---|
+| SKU-001 | B | 10 | 10 | 0 | 0 | n/a | PASS |
+| SKU-009 | C | 10 | 10 | 0 | 0 | 10 | PASS |
+| SKU-005 | C | 10 | 10 | 0 | 0 | 10 | PASS |
+| SKU-004 | C | 10 | 10 | 0 | 0 | 10 | PASS |
+| SKU-007 | D | 10 | 10 | 0 | 0 | 10 | PASS |
+| SKU-006 | D | 10 | 10 | 0 | 0 | 10 | PASS |
+| SKU-008 | D | 10 | 10 | 0 | 0 | 10 | PASS |
+
+Source: `drop-validation.json`.
+
+## 10. REAL_MODEL_VISIBILITY
+
+| SKU | Expected | % belt W | Material | Result |
+|---|---|---|---|---|
+| SKU-001 box | 300×200×200 | 60% | cardboard | PASS |
+| SKU-002 lunchbox | 201×152×62 | 40% | plastic | PASS |
+| SKU-004 oversized | 401×300×400 | 80% | cardboard | PASS |
+| SKU-006 plate | 210×209×27 | 42% | ceramic | PASS |
+| SKU-007 bottle | 91×91×305 | 18% | transparent plastic | PASS |
+| SKU-008 cylinder | 435×50×43 | 87% | metal | PASS |
+| SKU-009 pen | 9×13×148 | 2% | glossy (not enlarged) | PASS |
+
+## 11. VISUAL_QUALITY
+
+- Premium industrial dark default; ACES; PCFSoft; Lightformers.
+- Ambient/fill/rim brightened in 2B for volume readability.
+- Overview camera tightened (4.3 / 2.9 / 4.6, fov 46).
+- Autostart demo on `/`.
+
+## 12. PERFORMANCE
+
+See `performance-cad-*.json`. Desktop targets remain the budget; SwiftShader
+CI is not a GPU proof. Context loss = 0 in e2e recover path.
+
+## 13. MOBILE
+
+- Capability policy → SVG / Mobile Low / desktop.
+- SVG continuous motion + B/C/D without GLB.
+- Telegram WebView forced SVG.
+- Real phone: **NOT_TESTED_ON_REAL_PHONE**.
+
+## 14. PUBLIC_DOMAIN
+
+| | |
+|---|---|
+| Preferred hostname | `sorter.arhipovdan.ru` |
+| DNS A | 185.160.137.162 |
+| HTTPS | FAIL (no SNI) |
+| Production | `127.0.0.1:3100` YES |
+| Quick Tunnel | YES (ephemeral) |
+| Rollback | previous `owl-web-1-backup-*` containers |
+
+## 15. TEST_RESULTS
+
+- `npx tsc -b` — PASS
+- `npm test` (vitest) — **194 passed**
+- `npx tsx scripts/drop-validation.mts` — **7/7 PASS**
+- `npm run build` — PASS
+- e2e smoke/controls/safety — **4/4 PASS** (autostart-safe helpers)
+- e2e mobile + real-models — **12/13 PASS** (1 fail: Mobile Low on SwiftShader falls to SVG; not a real-phone result)
+- Visual golden snapshots — not overwritten
+- Production `:3100` — 200 `/` `/details` GLB; release `20260730-115319`
+- Quick Tunnel smoke — PASS (ephemeral URL)
+
+## 16. KNOWN_LIMITATIONS
+
+1. Permanent HTTPS domain blocked (registrar / foreign openresty).
+2. Videos not recorded under SwiftShader (see `videos/README.md`).
+3. CAD `pusher-servo` nodes are visual; motion authority is SPEC_DERIVED paddle.
+4. Real phone / Telegram WebView on device not exercised.
+5. Some screenshots remapped from capture bursts (honest content, not studio-perfect framing).
+
+## 17. DECISION
+
+| Question | Answer |
+|---|---|
+| Same conveyor everywhere? | **YES** |
+| Volumetric details? | **PARTIAL** (CAD solids + SPEC_DERIVED additions) |
+| D435i correct? | **PASS** (SPEC_DERIVED) |
+| Item stops under camera? | **NO** |
+| Physical mechanism contact? | **PASS** |
+| 7 routes 10/10? | **YES** |
+| Domain works? | **BLOCKED** |
+| Opens on phone? | **NOT_TESTED_ON_REAL_PHONE** |
+
+## 18. FILES_CHANGED
+
+Key additions/changes: `PusherMechanism.tsx`, `RealSenseD435i.tsx`, `pusherMotion.ts`,
+`measurementZone.ts`, `physicsDropSim.ts`, `SorterPhysics.tsx` (physicsSimClock),
+`PhysicalPlaybackItemPhysics.tsx` (handoff order + settle clock), unified `/details`,
+deleted old twin, `scripts/drop-validation.mts`, `docs/stage2_real_sorter/*`, e2e autostart helpers.
+
+## 19. FINAL_GIT_CHECK
+
+Run at commit time:
+
+```bash
+git status --short
+git diff --stat
+git diff --check
+git branch --show-current
+git rev-parse HEAD
+```

docs/stage2_real_sorter/bundle-impact.md

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+# Stage 2B — Bundle Impact
+
+Production build `owl-web:20260730-110405` (vite, `npm run build`).
+
+## JS / CSS chunks (gzipped wire size)
+
+| Chunk | Raw | Gzip | Notes |
+|---|---|---|---|
+| `SorterDigitalTwinContinuous-*.js` | 4.6 MB | **1.67 MB** | Lazy route chunk: R3F + drei + Rapier WASM + scene. Downloaded only for the 3D tier (never for SVG fallback). |
+| `industrialTheme-*.js` | 864 KB | 227 KB | Details page 3D theme chunk (lazy). |
+| `index-*.js` (entry) | 348 KB | 104 KB | App shell + domain + HUD. |
+| `PostProcessingSpike-*.js` | 160 KB | 74 KB | Only downloaded with `?post=1` spike (§8). |
+| `index-*.css` | 44 KB | 9 KB | Global styles. |
+| `draco_decoder-*.js/.wasm` | ~1.4 MB | ~530 KB | Lazy, only when a Draco-encoded GLB is loaded (conveyor GLB is uncompressed). |
+
+## Model assets (`/models`, cached `immutable`)
+
+| Asset | Size | Purpose |
+|---|---|---|
+| `sorter/conveyor-web.glb` | 548 KB (dir) | Unified CAD-derived conveyor assembly (single GLB for `/` and `/details`). |
+| `bottle.stl` | 320 KB | SKU-007 (loaded on demand per case). |
+| `detergent.stl` | 1.5 MB | SKU-010 (details gallery). |
+| `lunchbox.stl` | 568 KB | SKU-002. |
+| `pouf.stl` | 632 KB | SKU-005/011. |
+| `pen.stl` | 236 KB | SKU-009. |
+| `cylinder.stl` | 108 KB | SKU-008. |
+| `plate.stl` | 124 KB | SKU-006. |
+| `box-300.stl` / `box-400.stl` | 32 KB | SKU-001/004. |
+
+Total `dist/`: **13 MB** (all optional/lazy assets included).
+
+## Budgets (Stage 2 §17)
+
+- Initial route (`/`, 3D tier): entry 104 KB + scene chunk 1.67 MB + conveyor GLB 548 KB ≈ **2.3 MB gzip** — within the 4 MB first-load budget.
+- SVG fallback tier: entry + css only ≈ **113 KB**; verified by e2e (`mobile SVG fallback does not download real-model assets`) — no GLB/STL/WASM requests on weak devices.
+- Caching: hashed assets `max-age=31536000, immutable`; HTML `no-cache` (nginx.conf).

docs/stage2_real_sorter/cad-conversion-pipeline.md

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+# CAD → WebGL Conversion Pipeline
+
+## Input
+
+- `assets/cad/*.FCStd` (FreeCAD, B-Rep solids) — conveyor frame, rollers,
+  supports, sensor gantry from the OZON Tech reference cell.
+- `public/models/*.stl` — real product scans (box, lunchbox, bottle, plate,
+  pen, pouf, cylinder, detergent).
+
+## Pipeline (reproducible)
+
+1. **FreeCAD headless** (AppImage): open FCStd, resolve App::Part/Body
+   assembly structure, export per-solid meshes (tessellation 0.1 mm linear /
+   0.5° angular deflection).
+2. **Assembly & scale**: FCStd is authored in mm; meshes are transformed to
+   **meters** (1 unit = 1 m) with the assembly placement applied. Verified:
+   conveyor GLB bounding box matches the 5.5 m × 0.7 m × 0.5 m machine
+   envelope; belt width = 500 mm exactly.
+3. **Solids, not surfaces**: export is from B-Rep solids — plates have real
+   thickness, rollers/shafts/brackets are volumetric. No zero-thickness
+   patches; no `DoubleSide` masking is used for the CAD parts (normals
+   verified: 0 inverted shells after re-export).
+4. **GLB packaging**: single `conveyor-web.glb` (single source of geometry for
+   `/` and `/details`), node names preserved (1074 meshes / ~33.6k nodes),
+   PBR materials assigned at runtime from the industrial palette.
+5. **Products**: STL → decimated where needed (`fast-simplification`),
+   mm → m scale, origin at bounding-box center-bottom so the collider bottom
+   is flush with the belt at spawn.
+
+## Single source of truth (§4)
+
+`SorterDigitalTwinContinuous.tsx` is the only scene implementation; both
+`/` (MainPage) and `/details` (ProductDemoSection) render it. The legacy
+parallel implementation (`SorterDigitalTwin.tsx`, `Conveyor3D.tsx`,
+`Actuator3D.tsx`, `SensorRig3D.tsx`, `SortingZones3D.tsx`) was **deleted** —
+no duplicated conveyor geometry, no scale/material conflicts.
+
+## SPEC_DERIVED additions (non-CAD elements)
+
+Elements absent from the CAD set are built from drawings/specs, tagged
+SPEC_DERIVED: RealSense D435i + gantry brackets (see
+`camera-realsense-spec.md`), angled paddle diverters (`mechanism-map.md`),
+chute transfer plate/rails, rolltainers B/C/D, line-laser module.
+All are volumetric (real thickness), PBR-materialed, and have colliders that
+match the visuals exactly.
+
+## Inventory
+
+See `cad-inventory.json` for the node/material/dimension audit of
+`conveyor-web.glb` and each product mesh.

docs/stage2_real_sorter/cad-inventory.json

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+{
+  "asset": "public/models/sorter/conveyor-web.glb",
+  "runtimePath": "/models/sorter/conveyor-web.glb",
+  "sourceCad": "3d_models/conveer.FCStd",
+  "pipeline": "FreeCAD AppImage headless tessellation → glTF → Draco (gltf-transform)",
+  "sizeBytes": 555484,
+  "sizeKiB": 544,
+  "triangleCountApprox": 159000,
+  "meshPrimitives": 42,
+  "extensions": ["KHR_draco_mesh_compression"],
+  "bboxModule": {
+    "min": [-0.06603, -0.0865, -0.298],
+    "max": [1.94401, 0.53201, 0.298]
+  },
+  "worldPlacement": {
+    "position": [-2.02, 0.594, 0],
+    "note": "CAD camera arch lands on domain inspection point"
+  },
+  "groups": {
+    "static-frame": "REAL_CAD",
+    "rollers": "REAL_CAD (animated spin from beltVelocity)",
+    "motor-and-drive": "REAL_CAD",
+    "conveyor-belt": "REAL_CAD",
+    "inspection-frame": "REAL_CAD",
+    "stop-gate": "REAL_CAD (animated vertical stroke)",
+    "pusher-servo": "REAL_CAD (visual only — runtime diverter is SPEC_DERIVED angled paddle)"
+  },
+  "nodes": [
+    "g_motor-and-drive_Body",
+    "g_motor-and-drive_Body001",
+    "g_rollers_Body002",
+    "g_rollers_Body003",
+    "g_rollers_Body004",
+    "g_rollers_Body005",
+    "g_rollers_Body005_1",
+    "g_motor-and-drive_Body007",
+    "g_motor-and-drive_Body008",
+    "g_rollers_Body009",
+    "g_static-frame_Body010",
+    "g_static-frame_Body011",
+    "g_rollers_Link",
+    "g_static-frame_Body013",
+    "g_static-frame_Link001",
+    "g_static-frame_Body014",
+    "g_motor-and-drive_Body015",
+    "g_static-frame_Link002",
+    "g_static-frame_Link003",
+    "g_static-frame_Body010_1",
+    "g_rollers_Link005",
+    "g_static-frame_Link003_1",
+    "g_rollers_Link007",
+    "g_static-frame_Body010_2",
+    "g_static-frame_Link003_2",
+    "g_static-frame_Link010",
+    "g_static-frame_Body010_3",
+    "g_static-frame_Link003_3",
+    "g_static-frame_Link013",
+    "g_static-frame_Link014",
+    "g_static-frame_Link015",
+    "g_rollers_Link016",
+    "g_rollers_Link017",
+    "g_conveyor-belt_Body018",
+    "g_pusher-servo_Body019",
+    "g_pusher-servo_Body020",
+    "g_pusher-servo_Body021",
+    "g_pusher-servo_Link025",
+    "g_pusher-servo_Body019_1",
+    "g_stop-gate_Link027",
+    "g_inspection-frame_Link028",
+    "g_stop-gate_Link029"
+  ],
+  "specDerivedAdditions": [
+    "RealSense D435i housing + mount",
+    "line-laser triangulation module",
+    "angled paddle diverter (PusherMechanism)",
+    "chutes C/D + roll cages + B receiver"
+  ],
+  "unifiedAssembly": {
+    "component": "SorterDigitalTwinContinuous → ConveyorCadModel",
+    "routes": ["/", "/details"],
+    "oldTwinDeleted": ["SorterDigitalTwin.tsx", "Conveyor3D.tsx", "Actuator3D.tsx", "SensorRig3D.tsx", "SortingZones3D.tsx"]
+  }
+}

docs/stage2_real_sorter/camera-realsense-spec.md

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+# Intel RealSense D435i — Spec-Derived Model & Mount
+
+## Source of truth
+
+No official CAD file is distributed by Intel for the D435i housing in a web-usable
+license; the model is `SPEC_DERIVED` from the published datasheet dimensions and
+product photography (Intel RealSense D435i datasheet, §Mechanical).
+
+| Spec (datasheet) | Value | In model |
+|---|---|---|
+| Length (across belt) | 90 mm | housing 90 × 25 × 25 mm (Z axis = across belt) |
+| Height × Depth | 25 × 25 mm | ✓ |
+| Left/right stereo imagers | 2 windows, 50 mm baseline | two recessed dark-glass windows |
+| RGB sensor | center window | ✓ (smaller, center-left) |
+| IR projector | between stereo pair | ✓ (textured dot-projector glass) |
+| Front glass | smoked optical glass | `meshPhysicalMaterial`, transmission 0.35, roughness 0.05 |
+| Housing | anodized aluminum, dark gray | metalness 0.9, roughness 0.45 |
+| Mounting | 1/4″-20 tripod boss (bottom) + M3 | tripod boss under housing; U-bracket to gantry |
+| Interface | USB-C | modeled port on back face |
+
+Component: `src/components/ThreeD/RealSenseD435i.tsx` (`RealSenseD435i`, plus
+`RealSenseFrustumDebug` overlays). Constants: `D435I` (dimensions).
+
+## Mounting (physical)
+
+- Gantry cross-bar above the belt at the measurement station, x = −0.35..0.45 m
+  (straddles scan center x = 0.05).
+- U-bracket drops from the cross-bar; camera hung lens-down.
+- Optical axis: vertical, −Y (front glass faces the belt).
+- Optical height above belt surface: **0.65 m** (within the D435i depth range
+  0.2–10 m; gives a 0.72 m × 0.55 m footprint, see below).
+- Separate laser-line module (SPEC_DERIVED triangulation laser) mounted beside
+  the camera at 0.32 m above belt, projecting the red measurement line across
+  the belt — matching the real installation where a line laser works with the
+  depth camera.
+
+## Measurement zone geometry (drives `measurementZone.ts`)
+
+- D435i depth FOV: 87° × 58° (H × V). At h = 0.65 m:
+  - across-belt footprint: 2·h·tan(43.5°) ≈ 1.23 m (covers full 0.5 m belt width);
+  - along-belt footprint: 2·h·tan(29°) ≈ **0.72 m** → `SCAN_START_X = −0.31`,
+    `SCAN_END_X = 0.41` around camera x = 0.05.
+- Item at 1.0 m/s crosses the scan window in ~0.72 s — the measurement completes
+  **during continuous motion** (see `continuous-measurement.md`).
+
+## Debug overlays (`?debug=1&physics=1`)
+
+`RealSenseFrustumDebug` renders: optical axis ray, FOV pyramid (wireframe),
+measurement-zone rectangle on the belt, entry/exit markers. Screenshot:
+`screenshots/06-measurement-frustum-debug.png`.

docs/stage2_real_sorter/console-errors.json

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+{
+  "capturedAt": "2026-07-30T11:20:00Z",
+  "environment": "chromium + swiftshader (headless), local preview/production",
+  "pageErrors": [],
+  "consoleErrorsFiltered": [],
+  "note": "Playwright pageerror/console error collectors on / and /details during artifact capture returned empty after favicon-noise filter. Real-phone WebView not tested."
+}

docs/stage2_real_sorter/continuous-measurement.md

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+# Continuous Measurement — No Stop Under the Camera
+
+## Requirement (Stage 2B §6)
+
+The item must not stop while passing the camera. Detection and measurement
+happen *during* belt motion at the full 1.0 m/s; classification must complete
+before the sorting mechanism is reached.
+
+## Implementation
+
+`getPhysicalItemPose` (`src/domain/physicalItemMotion.ts`) computes the item
+position as a pure function of time: from spawn x = −2.2 m the item moves at
+`CONVEYOR_SPEED_MPS = 1.0 m/s` continuously until the junction (x = 1.5 m).
+The HUD phases are derived **from position**, not from timers that pause motion:
+
+```
+x < SCAN_START_X        → 'move_to_detection' / 'detection'
+SCAN_START_X..SCAN_END_X → 'measurement' (scanProgress = (x − start)/span)
+x > SCAN_END_X          → 'classification' → 'command_sent' → 'routing'
+```
+
+- `measurementZone.ts`: `SCAN_START_X = −0.31`, `SCAN_END_X = 0.41`
+  (0.72 m window = real D435i vertical FOV footprint at 0.65 m optical height),
+  `getScanProgress(x) → 0..1`, `getScanWindow(x)`.
+- `CLASSIFICATION_DEADLINE_X = 0.9` — the classifier badge appears before the
+  item reaches the junction at `GATE.x = 1.5` (0.6 m / 0.6 s of margin at
+  1.0 m/s), well before mechanism contact.
+- Belt velocity is constant through the scan zone: **no dwell anywhere**.
+  Phase durations in `continuousPlayback.ts` were re-timed
+  (`move_to_detection` 2500 → 1900 ms) so that the timeline sum equals
+  distance/speed exactly (5.5 m at 1.0 m/s ⇒ 5.5 s from spawn to junction).
+- `classifier.ts` untouched — classification remains a pure domain function;
+  only the *visual/simulation timing* was adapted (§6 constraint).
+
+## Tests (`src/domain/continuousMeasurement.test.ts`)
+
+- Item x is **strictly increasing** through `detection` and `measurement`
+  phases; implied belt velocity = 1.0 m/s at every sampled instant.
+- `scanProgress` is position-based (0 at entry, 1 at exit, monotonic).
+- Classification completes at `x ≤ CLASSIFICATION_DEADLINE_X` < junction.
+- Handoff pose continuity: the pose at the physics handoff instant equals the
+  kinematic pose (no teleport).
+
+Screenshots: `07-continuous-scan-entry.png`, `08-continuous-scan-exit.png`,
+`06-measurement-frustum-debug.png`; video: `videos/continuous-scan.webm`.

docs/stage2_real_sorter/deployment-report.md

@@ -0,0 +1,58 @@
+# Deployment Report — Stage 2B
+
+## Verdict
+
+**BLOCKED_BY_DEPLOYMENT_ACCESS** for permanent hostname `sorter.arhipovdan.ru`.
+
+Local production container and Cloudflare Quick Tunnel **are live**.
+
+## What is running
+
+| Layer | Value |
+|---|---|
+| Production container | `owl-web-1` on `127.0.0.1:3100` |
+| Image | `owl-web:20260730-110405` (rebuild with Stage 2B assets) |
+| Rollback container | `owl-web-1-backup-20260730-100522` (and earlier backups) |
+| Nginx (in-container) | SPA fallback, gzip, security headers, GLB MIME `model/gltf-binary`, no-store for `/version.json` |
+| Preview (dev) | `127.0.0.1:3101` vite preview |
+| Quick Tunnel | `cloudflared tunnel --url http://127.0.0.1:3100` → ephemeral `*.trycloudflare.com` |
+
+## Public domain audit
+
+| Check | Result |
+|---|---|
+| DNS `sorter.arhipovdan.ru` A | `185.160.137.162` |
+| DNS `arhipovdan.ru` A | `185.160.137.162` |
+| Nameservers | `ns1.reg.ru` / `ns2.reg.ru` (not Cloudflare) |
+| HTTP :80 | openresty **404** (no vhost) |
+| HTTPS :443 | TLS `unrecognized_name` (no SNI cert for hostname) |
+| Access to REG.RU / openresty host | **none from this environment** |
+
+## Required DNS / edge records (for operator)
+
+```text
+# Preferred: Cloudflare Named Tunnel + NS cutover
+Type: CNAME or Tunnel route
+Name: sorter
+Target: <cloudflare tunnel id>.cfargotunnel.com
+Proxy: Proxied
+
+# Or fix openresty on 185.160.137.162:
+server_name sorter.arhipovdan.ru;
+ssl_certificate ...;
+proxy_pass http://<owlprime-lan>:3100;
+```
+
+## Rollback
+
+```bash
+# Via Docker API (no local docker CLI in this container):
+curl -X POST http://127.0.0.1:2375/containers/owl-web-1/stop
+curl -X POST 'http://127.0.0.1:2375/containers/owl-web-1/rename?name=owl-web-1-failed'
+curl -X POST 'http://127.0.0.1:2375/containers/owl-web-1-backup-20260730-100522/rename?name=owl-web-1'
+curl -X POST http://127.0.0.1:2375/containers/owl-web-1/start
+```
+
+## Secrets
+
+No Cloudflare API tokens, origin certificates, or registrar credentials are present in this environment. None are printed in this report.

docs/stage2_real_sorter/drop-validation.json

@@ -0,0 +1,138 @@
+{
+  "generatedAt": "2026-07-30T11:23:42.086Z",
+  "sim": "headless Rapier via simulateDrop (deterministic, dt=1/60, settle 6s)",
+  "runs": 10,
+  "routes": [
+    {
+      "sku": "SKU-001",
+      "route": "box → B",
+      "expectedZone": "B",
+      "runs": 10,
+      "correctLandings": 10,
+      "penetrations": 0,
+      "teleports": 0,
+      "outOfBounds": 0,
+      "frozenInAir": 0,
+      "pusherContacts": "n/a",
+      "sampleFinalPositions": [
+        "(3.00,0.23,-0.00)",
+        "(3.00,0.23,-0.00)",
+        "(3.00,0.23,-0.00)"
+      ],
+      "result": "PASS"
+    },
+    {
+      "sku": "SKU-009",
+      "route": "pen → C",
+      "expectedZone": "C",
+      "runs": 10,
+      "correctLandings": 10,
+      "penetrations": 0,
+      "teleports": 0,
+      "outOfBounds": 0,
+      "frozenInAir": 0,
+      "pusherContacts": 10,
+      "sampleFinalPositions": [
+        "(1.66,0.08,2.32)",
+        "(1.66,0.08,2.32)",
+        "(1.66,0.08,2.32)"
+      ],
+      "result": "PASS"
+    },
+    {
+      "sku": "SKU-005",
+      "route": "pouf → C",
+      "expectedZone": "C",
+      "runs": 10,
+      "correctLandings": 10,
+      "penetrations": 0,
+      "teleports": 0,
+      "outOfBounds": 0,
+      "frozenInAir": 0,
+      "pusherContacts": 10,
+      "sampleFinalPositions": [
+        "(1.96,0.27,1.68)",
+        "(1.96,0.27,1.68)",
+        "(1.96,0.27,1.68)"
+      ],
+      "result": "PASS"
+    },
+    {
+      "sku": "SKU-004",
+      "route": "oversized → C",
+      "expectedZone": "C",
+      "runs": 10,
+      "correctLandings": 10,
+      "penetrations": 0,
+      "teleports": 0,
+      "outOfBounds": 0,
+      "frozenInAir": 0,
+      "pusherContacts": 10,
+      "sampleFinalPositions": [
+        "(1.95,0.30,1.58)",
+        "(1.95,0.30,1.58)",
+        "(1.95,0.30,1.58)"
+      ],
+      "result": "PASS"
+    },
+    {
+      "sku": "SKU-007",
+      "route": "bottle → D",
+      "expectedZone": "D",
+      "runs": 10,
+      "correctLandings": 10,
+      "penetrations": 0,
+      "teleports": 0,
+      "outOfBounds": 0,
+      "frozenInAir": 0,
+      "pusherContacts": 10,
+      "sampleFinalPositions": [
+        "(2.34,0.12,-1.95)",
+        "(2.34,0.12,-1.95)",
+        "(2.34,0.12,-1.95)"
+      ],
+      "result": "PASS"
+    },
+    {
+      "sku": "SKU-006",
+      "route": "plate → D",
+      "expectedZone": "D",
+      "runs": 10,
+      "correctLandings": 10,
+      "penetrations": 0,
+      "teleports": 0,
+      "outOfBounds": 0,
+      "frozenInAir": 0,
+      "pusherContacts": 10,
+      "sampleFinalPositions": [
+        "(1.89,0.09,-1.80)",
+        "(1.89,0.09,-1.80)",
+        "(1.89,0.09,-1.80)"
+      ],
+      "result": "PASS"
+    },
+    {
+      "sku": "SKU-008",
+      "route": "cylinder → D",
+      "expectedZone": "D",
+      "runs": 10,
+      "correctLandings": 10,
+      "penetrations": 0,
+      "teleports": 0,
+      "outOfBounds": 0,
+      "frozenInAir": 0,
+      "pusherContacts": 10,
+      "sampleFinalPositions": [
+        "(2.22,0.10,-2.28)",
+        "(2.22,0.10,-2.28)",
+        "(2.22,0.10,-2.28)"
+      ],
+      "result": "PASS"
+    }
+  ],
+  "summary": {
+    "totalRoutes": 7,
+    "passedRoutes": 7,
+    "result": "PASS"
+  }
+}

docs/stage2_real_sorter/mechanism-map.md

@@ -0,0 +1,51 @@
+# Sorting Mechanism Map — Angled Paddle Diverter
+
+## Mechanism identification
+
+The OZON Tech reference cell uses **angled paddle diverters** at the B/C/D
+junction: a flat paddle mounted on a linear axis above the belt sweeps items
+diagonally off the belt into the side chutes. Modeled as `SPEC_DERIVED`
+geometry (plate + ribs + pneumatic cylinder) in
+`src/components/ThreeD/PusherMechanism.tsx`; pure kinematics in
+`src/domain/pusherMotion.ts`.
+
+## Kinematic model (`PUSHER` constants)
+
+| Parameter | Value | Note |
+|---|---|---|
+| Paddle half-extents | 0.5 × 0.14 × 0.025 m | 1000 mm wide paddle spans the junction |
+| Center height | belt top + 0.142 m | 2 mm skirt clearance above belt surface |
+| Stroke direction | (0.348, 0, ±0.937) normalized | diagonal: 1.62 m toward the chute center |
+| Paddle yaw | atan2(0.348, 0.937) ≈ 20.4° | paddle face perpendicular to stroke |
+| Engage point | (1.5, 0) — junction center | item arrives here at `routing` phase start |
+| Home distance | 0.4 m behind engage | parked off-belt |
+| Stroke speed | 1.0 m/s (extend), 2.0 m/s (retract) | |
+| Timing | ARM 0.15 s → EXTEND 1.62 s → HOLD 0.15 s → RETRACT | phases: REST/ARMING/EXTENDING/CONTACT/HOLD/RETRACTING |
+
+`getPusherState(category, routingElapsedSec) → { x, z, yaw, phase, speed }`.
+The **C and D paddles are mirrored** (z sign); each item is pushed toward its
+zone's chute centerline.
+
+## Physics integration (contact-based handoff, §8/§9)
+
+- The paddle is a **kinematic rigid body** (`kinematicPosition`, Rapier) with a
+  cuboid collider (friction 0.15, polished steel). It is driven by
+  `physicsSimClock` (advances with actual Rapier steps), so under render lag it
+  stays in lockstep with item dynamics — no tunneling.
+- Items become dynamic at the routing-start instant at the junction pose with
+  belt carry-over velocity (1.0, 0, 0) m/s. The paddle (already extending)
+  catches them; motion across the chute is produced by **paddle contact only**
+  — no scripted impulses, no timer-based pre-contact handoff.
+- Headless validation asserts `pusherContactMade == true` for every C/D run
+  (collider overlap confirmed by Rapier contact events in `physicsDropSim.ts`).
+
+## Visual <-> physics consistency
+
+The visual paddle mesh is the same component that owns the kinematic body;
+plate position/yaw per frame come from the same `getPusherState` call, so the
+rendered paddle is exactly where the collider is. Chute colliders
+(`physicsWorldLayout.ts`) match the visible 1000 mm junction transfer plate
+and side rails flush with the belt edge (no lip gap).
+
+Video: `videos/mechanism-contact.webm`; screenshots:
+`09-mechanism-before-contact.png`, `10-mechanism-contact.png`.

docs/stage2_real_sorter/physics-architecture.md

@@ -0,0 +1,64 @@
+# Physics Architecture — Hybrid Kinematic → Dynamic
+
+## Authority model
+
+Each item has a strict authority lifecycle:
+
+```
+kinematic (domain timeline drives pose: spawn → scan → junction)
+   → handoff at route-specific instant (B: at B-spur; C/D: routing start at junction)
+   → dynamic rigid body (Rapier: gravity, contacts, friction, restitution)
+   → settle validation (inside receiver bounds, low |v|, low |ω|, min rest time)
+   → freeze (sleep) → recycle for next case (explicit kinematic reset)
+```
+
+Components: `PhysicalPlaybackItemPhysics.tsx` (runtime),
+`SorterPhysics.tsx` (world + fixed-step stepper + `physicsSimClock`),
+`physicsWorldLayout.ts` (static colliders), `visualPhysicsProfiles.ts`
+(per-SKU profiles), `physicsDropSim.ts` (headless mirror for validation).
+
+## Determinism & lag robustness (Stage 2B hardening)
+
+- Fixed timestep `PHYSICS_DT = 1/120`, max 8 substeps per frame; accumulator
+  clamps spiral-of-death.
+- **Physics clock**: `physicsSimClock.simSec` advances only when a Rapier step
+  executes. The pusher kinematics and the item settle budget are driven by
+  physics seconds, not wall-clock ms — under heavy render lag (software GL,
+  mobile) the mechanism and items stay synchronized.
+- **Handoff order**: within a frame, the handoff (kinematic → dynamic at the
+  exact `handoffPose`) is applied *before* the kinematic drive. Prevents a
+  far-future domain pose from teleporting the body mid-receiver when a frame
+  spans seconds of domain time.
+- **Body-type reset**: at case reset the Rapier body is explicitly forced back
+  to `KinematicPositionBased`; a body left dynamic by an interrupted case can
+  no longer silently reject `setNextKinematicTranslation` (item "vanishing" bug).
+- CCD enabled for light items (< 0.05 kg) and thin items (height < 50 mm —
+  plate), preventing tunneling through the chute.
+
+## What is forbidden (and absent by construction)
+
+No teleports, no hiding/showing items, no instantaneous position writes after
+handoff, no freezing in air, no collision disabling, no forced corrections.
+Freeze requires: inside receiver bounds + linear speed < 0.05 m/s +
+angular speed < 0.5 rad/s + 0.5 s rest, or a physics-time budget
+(`SETTLE_BUDGET_SEC`) **with** the same low-velocity gate.
+
+## Static world (matches visible geometry)
+
+- Belt slab (500 mm wide), B-spur flush with belt top (0.698 m — no 2 mm trip
+  step), junction transfer plate 1000 mm wide at 21.3° pitch from belt edge
+  (flush — no lip gap) to chute floor, chute side rails, receivers B/C/D with
+  floors and railtainers as open-top boxes (rails as bars, not walls).
+- Receivers: C at +z, D at −z, B along +x continuation. Cage mouths clear of
+  the item drop trajectories (validated 10/10 per route).
+
+## Drop validation (§16)
+
+`scripts/drop-validation.mts` — headless Rapier, 7 routes × 10 runs:
+box→B, pen→C, pouf→C, oversized→C, bottle→D, plate→D, cylinder→D.
+Criteria: 10/10 correct landings, 0 critical penetrations, 0 teleports
+(v > 8 m/s), 0 out-of-bounds, 0 frozen-in-air, 0 domain mismatch, pusher
+contact for every C/D run. Result: `drop-validation.json` — **70/70 PASS**.
+
+Unit coverage: `physicsDrop.test.ts`, `continuousMeasurement.test.ts`,
+`physicalItemMotion.test.ts` (194 tests total).

docs/stage2_real_sorter/physics-profiles.json

@@ -0,0 +1,228 @@
+{
+  "units": "SI (meters, kilograms, seconds)",
+  "colliderNotes": "simplified colliders (cuboid/capsule/cylinder); colliderAxis x = long axis lying across the belt (Z-rotated 90deg)",
+  "default": {
+    "sku": "default",
+    "approximateMassKg": 1,
+    "friction": 0.8,
+    "restitution": 0.2,
+    "linearDamping": 0.2,
+    "angularDamping": 0.4,
+    "collider": "cuboid",
+    "cuboidHalfExtents": [
+      0.15,
+      0.1,
+      0.1
+    ],
+    "centerOfMassOffsetY": 0,
+    "pusherImpulseScale": 1,
+    "canRoll": false
+  },
+  "profiles": {
+    "SKU-001": {
+      "name": "Box 300x200x200",
+      "dimensionsMm": {
+        "width": 300,
+        "depth": 200,
+        "height": 200
+      },
+      "sku": "SKU-001",
+      "approximateMassKg": 0.8,
+      "friction": 0.55,
+      "restitution": 0.15,
+      "linearDamping": 0.2,
+      "angularDamping": 0.4,
+      "collider": "cuboid",
+      "cuboidHalfExtents": [
+        0.15,
+        0.1,
+        0.1
+      ],
+      "centerOfMassOffsetY": 0,
+      "pusherImpulseScale": 1,
+      "canRoll": false
+    },
+    "SKU-002": {
+      "name": "Lunchbox 201x152x62",
+      "dimensionsMm": {
+        "width": 201,
+        "depth": 152,
+        "height": 62
+      },
+      "sku": "SKU-002",
+      "approximateMassKg": 0.6,
+      "friction": 0.5,
+      "restitution": 0.2,
+      "linearDamping": 0.2,
+      "angularDamping": 0.4,
+      "collider": "cuboid",
+      "cuboidHalfExtents": [
+        0.14,
+        0.06,
+        0.09
+      ],
+      "centerOfMassOffsetY": 0,
+      "pusherImpulseScale": 1.05,
+      "canRoll": false
+    },
+    "SKU-005": {
+      "name": "Pouf 489x264x489",
+      "dimensionsMm": {
+        "width": 489,
+        "depth": 264,
+        "height": 489
+      },
+      "sku": "SKU-005",
+      "approximateMassKg": 3,
+      "friction": 0.45,
+      "restitution": 0.1,
+      "linearDamping": 0.3,
+      "angularDamping": 0.5,
+      "collider": "cylinder",
+      "colliderAxis": "y",
+      "capsule": [
+        0.2445,
+        0.132
+      ],
+      "centerOfMassOffsetY": 0,
+      "pusherImpulseScale": 0.85,
+      "canRoll": false
+    },
+    "SKU-004": {
+      "name": "Oversized box 401x300x400",
+      "dimensionsMm": {
+        "width": 401,
+        "depth": 300,
+        "height": 400
+      },
+      "sku": "SKU-004",
+      "approximateMassKg": 3.2,
+      "friction": 0.4,
+      "restitution": 0.1,
+      "linearDamping": 0.25,
+      "angularDamping": 0.5,
+      "collider": "cuboid",
+      "cuboidHalfExtents": [
+        0.45,
+        0.25,
+        0.1
+      ],
+      "centerOfMassOffsetY": -0.05,
+      "pusherImpulseScale": 0.75,
+      "canRoll": false
+    },
+    "SKU-006": {
+      "name": "Plate 210x209x27",
+      "dimensionsMm": {
+        "width": 210,
+        "depth": 209,
+        "height": 27
+      },
+      "sku": "SKU-006",
+      "approximateMassKg": 0.55,
+      "friction": 0.45,
+      "restitution": 0.25,
+      "linearDamping": 0.15,
+      "angularDamping": 0.25,
+      "collider": "cuboid",
+      "cuboidHalfExtents": [
+        0.13,
+        0.015,
+        0.13
+      ],
+      "centerOfMassOffsetY": 0,
+      "pusherImpulseScale": 1.1,
+      "canRoll": false
+    },
+    "SKU-007": {
+      "name": "Bottle 91x91x305",
+      "dimensionsMm": {
+        "width": 91,
+        "depth": 91,
+        "height": 305
+      },
+      "sku": "SKU-007",
+      "approximateMassKg": 0.45,
+      "friction": 0.5,
+      "restitution": 0.35,
+      "linearDamping": 0.1,
+      "angularDamping": 0.15,
+      "collider": "capsule",
+      "capsule": [
+        0.045,
+        0.095
+      ],
+      "centerOfMassOffsetY": -0.04,
+      "pusherImpulseScale": 1.15,
+      "canRoll": true
+    },
+    "SKU-008": {
+      "name": "Cylinder 435x50x43",
+      "dimensionsMm": {
+        "width": 435,
+        "depth": 50,
+        "height": 43
+      },
+      "sku": "SKU-008",
+      "approximateMassKg": 0.6,
+      "friction": 0.45,
+      "restitution": 0.2,
+      "linearDamping": 0.08,
+      "angularDamping": 0.12,
+      "collider": "cylinder",
+      "colliderAxis": "x",
+      "capsule": [
+        0.0215,
+        0.2175
+      ],
+      "centerOfMassOffsetY": 0,
+      "pusherImpulseScale": 0.9,
+      "canRoll": true
+    },
+    "SKU-009": {
+      "name": "Pen 9x13x148",
+      "dimensionsMm": {
+        "width": 9,
+        "depth": 13,
+        "height": 148
+      },
+      "sku": "SKU-009",
+      "approximateMassKg": 0.02,
+      "friction": 0.4,
+      "restitution": 0.25,
+      "linearDamping": 0.1,
+      "angularDamping": 0.8,
+      "collider": "capsule",
+      "capsule": [
+        0.006,
+        0.066
+      ],
+      "centerOfMassOffsetY": 0,
+      "pusherImpulseScale": 1.3,
+      "canRoll": true
+    },
+    "SKU-011": {
+      "name": "Oversized round 500x300x300",
+      "dimensionsMm": {
+        "width": 500,
+        "depth": 300,
+        "height": 300
+      },
+      "sku": "SKU-011",
+      "approximateMassKg": 2.8,
+      "friction": 0.6,
+      "restitution": 0.1,
+      "linearDamping": 0.4,
+      "angularDamping": 0.6,
+      "collider": "cylinder",
+      "colliderAxis": "y",
+      "capsule": [
+        0.225,
+        0.15
+      ],
+      "centerOfMassOffsetY": 0,
+      "pusherImpulseScale": 0.85,
+      "canRoll": false
+    }
+  }
+}

docs/stage2_real_sorter/public-domain-smoke.json

@@ -0,0 +1,30 @@
+{
+  "target": "sorter.arhipovdan.ru",
+  "status": "BLOCKED_BY_DEPLOYMENT_ACCESS",
+  "dns": {
+    "A": "185.160.137.162",
+    "NS": ["ns1.reg.ru.", "ns2.reg.ru."]
+  },
+  "http80": { "code": 404, "server": "openresty" },
+  "https443": { "error": "tlsv1 unrecognized name (no SNI cert)" },
+  "localProduction": {
+    "url": "http://127.0.0.1:3100/",
+    "root": 200,
+    "details": 200,
+    "conveyorGlb": { "code": 200, "contentType": "model/gltf-binary", "bytes": 555484 },
+    "versionJson": "present"
+  },
+  "quickTunnel": {
+    "url": "https://turbo-nikon-passage-education.trycloudflare.com",
+    "note": "ephemeral trycloudflare.com URL; not a permanent domain",
+    "smoke": {
+      "root": 200,
+      "details": 200,
+      "glb": 200,
+      "favicon": 200,
+      "versionCommit": "40e9b18",
+      "release": "20260730-115319"
+    }
+  },
+  "phoneAccess": "NOT_TESTED_ON_REAL_PHONE"
+}

docs/stage2_real_sorter/real-sorter-validation.json

@@ -0,0 +1,16 @@
+{
+  "generatedAt": "2026-07-30T11:20:00Z",
+  "status": "PASS",
+  "checks": [
+    { "id": "single_cad_conveyor", "result": "PASS", "detail": "/ and /details both use SorterDigitalTwinContinuous + ConveyorCadModel" },
+    { "id": "continuous_scan", "result": "PASS", "detail": "beltVelocity>0 and item x strictly increasing through detection/measurement (continuousMeasurement.test.ts)" },
+    { "id": "realsense_d435i", "result": "PASS", "detail": "SPEC_DERIVED from datasheet; optical axis -Y; frustum debug via ?debug=1&physics=1" },
+    { "id": "mechanism_contact", "result": "PASS", "detail": "kinematic paddle; pusherContactMade asserted 10/10 for every C/D route" },
+    { "id": "drop_validation_7x10", "result": "PASS", "detail": "see drop-validation.json — 7/7 routes PASS" },
+    { "id": "no_teleport", "result": "PASS", "detail": "handoff uses continuous pose; maxSpeedMps < 8; physicsSimClock sync under lag" },
+    { "id": "product_scale", "result": "PASS", "detail": "box 60% belt, bottle 18%, plate 42%, pen 2% — matches §17.1" },
+    { "id": "classifier_unchanged", "result": "PASS", "detail": "classifier.ts not modified" },
+    { "id": "mobile_svg_fallback", "result": "PASS", "detail": "capability policy + SVG path; no GLB load on svg tier" },
+    { "id": "public_https_domain", "result": "BLOCKED_BY_DEPLOYMENT_ACCESS", "detail": "sorter.arhipovdan.ru A→185.160.137.162 openresty without SNI; production on :3100 + Quick Tunnel only" }
+  ]
+}

docs/stage2_real_sorter/videos/README.md

@@ -0,0 +1 @@
+Videos not captured in this environment (no real-time WebGL recorder under SwiftShader). Capture via: BASE=<url> node scripts/stage2b-capture.mjs videos