New NVRTC kernel pose_task_update: one thread per selected task template
entry runs the C1-validated projection chain (pose_world_from_pixel ->
pose_pixel_from_world) and rewrites the 6-float task headers of BOTH
resident ftask slots in place (slot 0 = MB main, slot 1 = MB partner).
Inputs are all resident: per-sequence template (packed txy + reference
centers, configuration-register semantics), per-scene camera blocks
(shared with prepare_resident via pose_prep_ready bits), the
device-authoritative current pose set, and per-scene scalars (uniform-MB
6-float descriptor + margins + pre-encoded |511 task words). Failed
projection / margin-gate tiles become task=0 HOLES in both sets -
index_direct, index_consolidate and the inter correlation all skip them
(the Java condensed stream reached the same end by omission).

JNA API: tp_proc_exec_pose_task_update (nullable groups, rung C2
contract; task_size derived from the uploaded skeleton) +
tp_proc_activate_tasks_slot (make a resident slot the live task stream
with no H2D - geometry/convert consume the kernel-rewritten slots).

Tests (test_avg_td_oob two-tier pairing precedent):
- src/tests/test_pose_task_update (nvcc-direct): grid-stride body makes
  a <<<1,1>>> launch the serial float oracle - parallel launch memcmp
  bit-exact; centerXY == pose_fx_jacobian fx + descriptor at 0 px
  (bit-identical across kernels); host-replayed margin/hole logic exact;
  xy/disp_dist tails untouched. PASS.
- jna/test_pose_task_update_jna (production NVRTC module): fx-consistent
  at 0 px, keep-resident rerun memcmp-identical, no-MB encoding
  (sub=511), activate-slot getter semantics, error paths. PASS.
All regressions PASS: run_cases.sh (pose_corr @tol 0 replay, peak,
peak_recenter, avg_td, avg_td_oob) + pose fx/step/resident/DP/products
standalone tests against the rebuilt module. compute-sanitizer cannot
run on this GPU (sm_120 "Device not supported" - environment, not code).

Design: imagej-elphel-internal
handoffs/2026-07-16_3b_measure_chain_residency_design.md (B1; gate D3).
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>