Add files using upload-large-folder tool

scans/beige_pulley/converted/README.md

@@ -0,0 +1,26 @@
+# Converted Robotics Dataset
+
+This dataset stores authoritative timestamps and metadata in Parquet tables and
+stores frame payloads in video containers. Video presentation timestamps are not
+used for synchronization; use `tables/frames.parquet` and `video_frame_idx`.
+
+Core loading rule:
+
+```text
+decoded video frame k == frames.parquet row where video_frame_idx == k
+```
+
+Useful files:
+
+- `dataset_manifest.parquet`: converted sessions in this dataset root
+- `sessions/<session_id>/metadata/streams.parquet`: stream IDs and modalities
+- `sessions/<session_id>/metadata/videos.parquet`: stream-to-video mapping
+- `sessions/<session_id>/tables/frames.parquet`: authoritative timestamps,
+  frame indices, clock domains, and hashes
+- `sessions/<session_id>/tables/robot_states.parquet`: robot states, if present
+- `sessions/<session_id>/metadata/calibration.json`: calibration and transform
+  conventions
+- `sessions/<session_id>/metadata/validation_report.json`: validation status
+
+Downstream reading requires Python, NumPy, PyArrow, and PyAV/FFmpeg-compatible
+decoders. Camera SDKs are conversion-only dependencies.

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/calibration.json

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+{
+  "camera_frame_conventions": {
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+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_left_rgb": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_right_rgb": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    }
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+          "source_file_sha256": "686358ddafbbc958ad6505565bcdd36fee40b7f1054f67f1c3ff2a769040e0ef",
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+          "units": {
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+            "translation": "meters"
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+          "source_file_sha256": "686358ddafbbc958ad6505565bcdd36fee40b7f1054f67f1c3ff2a769040e0ef",
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+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
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+    },
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+          "source": "zed_sdk:svo2:stereo_transform",
+          "source_file": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "686358ddafbbc958ad6505565bcdd36fee40b7f1054f67f1c3ff2a769040e0ef",
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+          "units": {
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+            "translation": "meters"
+          },
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+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
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+          "source_file_sha256": "686358ddafbbc958ad6505565bcdd36fee40b7f1054f67f1c3ff2a769040e0ef",
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+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        }
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+          "sensor_type": "zed"
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+          "role": "right_rgb",
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+          "source": "zed_sdk:svo2:stereo_transform",
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+          "source_file_sha256": "686358ddafbbc958ad6505565bcdd36fee40b7f1054f67f1c3ff2a769040e0ef",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
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+          "source_file": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "686358ddafbbc958ad6505565bcdd36fee40b7f1054f67f1c3ff2a769040e0ef",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+          "units": {
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+            "translation": "meters"
+          },
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+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
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+      ],
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+          "sensor_type": "zed"
+        },
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+          "role": "right_rgb",
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+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    }
+  },
+  "coordinate_frame_names": {
+    "calib_board": "calibration board frame",
+    "camera": "camera optical frame for the associated stream",
+    "panda_link0": "Franka base link frame when available",
+    "world": "workspace/world frame when available",
+    "zed_12933256_left_rgb_camera": "zed optical frame (depth)",
+    "zed_12933256_right_rgb_camera": "zed optical frame (right_rgb)"
+  },
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+    "zed_12933256_left_rgb": "zed_sdk",
+    "zed_12933256_right_rgb": "zed_sdk"
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+  "optical_frames": {
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+      "device_serial": "12933256",
+      "role": "depth",
+      "same_as_left_rgb": true,
+      "sensor_type": "zed"
+    },
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+      "device_serial": "12933256",
+      "role": "right_rgb",
+      "sensor_type": "zed"
+    }
+  },
+  "packaged_calibration": {
+    "converted_relative_package_dir": null,
+    "manifest": null,
+    "missing_recording_serials": [
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+    "packaged_camera_serials": [],
+    "recording_camera_serials": [
+      "12933256"
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+    "recording_relative_source_dir": "calibration",
+    "source": "packaged-if-present",
+    "status": "missing",
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+    "warnings": [
+      "No packaged calibration directory was found."
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+    "zed_12933256_left_rgb": 0.06304030865430832,
+    "zed_12933256_right_rgb": 0.06304030865430832
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+  "stream_frame_assignment": {
+    "zed_12933256_depth_zed_sdk_neural_plus": "zed_12933256_left_rgb_camera",
+    "zed_12933256_left_rgb": "zed_12933256_left_rgb_camera",
+    "zed_12933256_right_rgb": "zed_12933256_right_rgb_camera"
+  },
+  "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+  "transforms": [
+    {
+      "matrix": [
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+      "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+      "source": "zed_sdk:svo2:stereo_transform",
+      "source_file": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/ZED-M_SN12933256.svo2",
+      "source_file_sha256": "686358ddafbbc958ad6505565bcdd36fee40b7f1054f67f1c3ff2a769040e0ef",
+      "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+      "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_12933256_left_rgb",
+        "zed_12933256_right_rgb",
+        "zed_12933256_depth_zed_sdk_neural_plus"
+      ]
+    },
+    {
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+      "matrix_storage_order": "row_major",
+      "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+      "source": "zed_sdk:svo2:stereo_transform_inverse",
+      "source_file": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/ZED-M_SN12933256.svo2",
+      "source_file_sha256": "686358ddafbbc958ad6505565bcdd36fee40b7f1054f67f1c3ff2a769040e0ef",
+      "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+      "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_12933256_left_rgb",
+        "zed_12933256_right_rgb",
+        "zed_12933256_depth_zed_sdk_neural_plus"
+      ]
+    }
+  ],
+  "units": {
+    "depth": "stream-specific, see per-stream depth_scale",
+    "rotation": "unitless",
+    "translation": "meters"
+  },
+  "valid_stream_ids": [
+    "zed_12933256_left_rgb",
+    "zed_12933256_right_rgb",
+    "zed_12933256_depth_zed_sdk_neural_plus"
+  ]
+}

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/camera_settings_propagation.json

@@ -0,0 +1,5 @@
+{
+  "artifact_relpaths": [],
+  "status": "missing",
+  "summary": null
+}

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/conversion_plan.json

@@ -0,0 +1,1228 @@
+{
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+        "native_container_includes_post_native_priming_frames": true,
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+        "validation_decision": "passed_with_warnings",
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+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
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+          "timing_column": "device_timestamp_ns",
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+        "validation_reasons": [
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+        ],
+        "warnings": [
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+      },
+      "timestamps_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+      "zed_depth_mode": "NEURAL_PLUS"
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+  ],
+  "timestamp_policy": {
+    "authoritative_timing_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "large_gap_fail_multiplier": 3.5,
+    "max_large_gap_rate": 0.005,
+    "native_frame_mapping": "native_container_frame_index = first_official_native_frame_index + official_frame_index",
+    "recording_timestamp_gap_warnings": {
+      "status": "passed_with_warnings",
+      "streams": {
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+          "plan_warnings": [
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+          "recorder_timestamp_summary": {
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+            "large_gap_count": 8,
+            "large_gaps": [
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+                "to_row": 5224
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+            ],
+            "max_gap_ns": 199225000,
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+            "observed_fps": 15.063428617607867,
+            "warnings": [
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+          }
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed_with_warnings",
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+          "recorder_timestamp_summary": {
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+            "large_gap_count": 8,
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+          }
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
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+          "recorder_timestamp_summary": {
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+            "large_gap_count": 8,
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+                "to_row": 229
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+            "observed_fps": 15.063428617607867,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        }
+      },
+      "timestamp_gap_policy": "warn"
+    },
+    "timestamp_gap_policy": "warn",
+    "timestamp_rate_policy": "warn",
+    "within_stream_inter_frame_timestamp_validation": {
+      "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+      "policy": {
+        "fail_on_duplicate_timestamps": true,
+        "fail_on_missing_timestamps": true,
+        "fail_on_non_monotonic_timestamps": true,
+        "gap_policy": "warn",
+        "large_gap_warning_multiplier": 1.5,
+        "max_gap_fail_multiplier": 3.5,
+        "max_large_gap_count": null,
+        "max_large_gap_rate": 0.005,
+        "median_period_tolerance_ratio": 0.05,
+        "min_observed_fps_ratio": 0.98,
+        "rate_policy": "warn"
+      },
+      "scope": "within_stream_inter_frame_timestamp_validation",
+      "status": "passed_with_warnings",
+      "streams": {
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+          },
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+        },
+        "zed_12933256_right_rgb": {
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+            "startup_gap_excluded_from_warnings": false,
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+            "within_stream_large_gap_rate": 0.001423994304022784
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+            "sparse_within_stream_inter_frame_timestamp_gaps"
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+          "recorder_timestamp_summary": {
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+            "large_gap_count": 8,
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+                "to_row": 229
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+              }
+            ],
+            "max_gap_ns": 199225000,
+            "median_gap_ns": 66315000.0,
+            "observed_fps": 15.063428617607867,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        }
+      }
+    }
+  }
+}

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/conversion_plan_validation_report.json

@@ -0,0 +1,1237 @@
+{
+  "authoritative_timestamps": "streams/<stream_id>/timestamps.parquet",
+  "calibration": {
+    "calibration_dir": "calibration",
+    "manifest_path": null,
+    "missing_recording_serials": [
+      "12933256"
+    ],
+    "packaged_camera_serials": [],
+    "recording_camera_serials": [
+      "12933256"
+    ],
+    "source": "packaged-if-present",
+    "status": "missing",
+    "transforms_index": null,
+    "transforms_index_path": null,
+    "warnings": [
+      "No packaged calibration directory was found."
+    ],
+    "world_T_camera_bundle_path": null
+  },
+  "camera_settings": {
+    "artifact_paths": {},
+    "status": "missing",
+    "summary": null
+  },
+  "container_pts_for_synchronization": false,
+  "recording_timestamp_gap_warnings": {
+    "status": "passed_with_warnings",
+    "streams": {
+      "zed_12933256_depth_zed_sdk_neural_plus": {
+        "decision": "passed_with_warnings",
+        "plan_warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 8,
+          "large_gaps": [
+            {
+              "from_row": 228,
+              "gap_ns": 132671000,
+              "to_row": 229
+            },
+            {
+              "from_row": 732,
+              "gap_ns": 132662000,
+              "to_row": 733
+            },
+            {
+              "from_row": 1354,
+              "gap_ns": 133358000,
+              "to_row": 1355
+            },
+            {
+              "from_row": 4110,
+              "gap_ns": 132627000,
+              "to_row": 4111
+            },
+            {
+              "from_row": 4660,
+              "gap_ns": 133643000,
+              "to_row": 4661
+            },
+            {
+              "from_row": 5028,
+              "gap_ns": 132196000,
+              "to_row": 5029
+            },
+            {
+              "from_row": 5035,
+              "gap_ns": 199225000,
+              "to_row": 5036
+            },
+            {
+              "from_row": 5223,
+              "gap_ns": 132382000,
+              "to_row": 5224
+            }
+          ],
+          "max_gap_ns": 199225000,
+          "median_gap_ns": 66315000.0,
+          "observed_fps": 15.063428617607867,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      },
+      "zed_12933256_left_rgb": {
+        "decision": "passed_with_warnings",
+        "plan_warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 8,
+          "large_gaps": [
+            {
+              "from_row": 228,
+              "gap_ns": 132671000,
+              "to_row": 229
+            },
+            {
+              "from_row": 732,
+              "gap_ns": 132662000,
+              "to_row": 733
+            },
+            {
+              "from_row": 1354,
+              "gap_ns": 133358000,
+              "to_row": 1355
+            },
+            {
+              "from_row": 4110,
+              "gap_ns": 132627000,
+              "to_row": 4111
+            },
+            {
+              "from_row": 4660,
+              "gap_ns": 133643000,
+              "to_row": 4661
+            },
+            {
+              "from_row": 5028,
+              "gap_ns": 132196000,
+              "to_row": 5029
+            },
+            {
+              "from_row": 5035,
+              "gap_ns": 199225000,
+              "to_row": 5036
+            },
+            {
+              "from_row": 5223,
+              "gap_ns": 132382000,
+              "to_row": 5224
+            }
+          ],
+          "max_gap_ns": 199225000,
+          "median_gap_ns": 66315000.0,
+          "observed_fps": 15.063428617607867,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      },
+      "zed_12933256_right_rgb": {
+        "decision": "passed_with_warnings",
+        "plan_warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 8,
+          "large_gaps": [
+            {
+              "from_row": 228,
+              "gap_ns": 132671000,
+              "to_row": 229
+            },
+            {
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+              "to_row": 733
+            },
+            {
+              "from_row": 1354,
+              "gap_ns": 133358000,
+              "to_row": 1355
+            },
+            {
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+              "gap_ns": 132627000,
+              "to_row": 4111
+            },
+            {
+              "from_row": 4660,
+              "gap_ns": 133643000,
+              "to_row": 4661
+            },
+            {
+              "from_row": 5028,
+              "gap_ns": 132196000,
+              "to_row": 5029
+            },
+            {
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+              "gap_ns": 199225000,
+              "to_row": 5036
+            },
+            {
+              "from_row": 5223,
+              "gap_ns": 132382000,
+              "to_row": 5224
+            }
+          ],
+          "max_gap_ns": 199225000,
+          "median_gap_ns": 66315000.0,
+          "observed_fps": 15.063428617607867,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      }
+    },
+    "timestamp_gap_policy": "warn"
+  },
+  "status": "passed_with_warnings",
+  "stream_count": 3,
+  "stream_ids": [
+    "zed_12933256_left_rgb",
+    "zed_12933256_right_rgb",
+    "zed_12933256_depth_zed_sdk_neural_plus"
+  ],
+  "timestamp_policy": {
+    "authoritative_timing_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "large_gap_fail_multiplier": 3.5,
+    "max_large_gap_rate": 0.005,
+    "native_frame_mapping": "native_container_frame_index = first_official_native_frame_index + official_frame_index",
+    "recording_timestamp_gap_warnings": {
+      "status": "passed_with_warnings",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 8,
+            "large_gaps": [
+              {
+                "from_row": 228,
+                "gap_ns": 132671000,
+                "to_row": 229
+              },
+              {
+                "from_row": 732,
+                "gap_ns": 132662000,
+                "to_row": 733
+              },
+              {
+                "from_row": 1354,
+                "gap_ns": 133358000,
+                "to_row": 1355
+              },
+              {
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+                "gap_ns": 132627000,
+                "to_row": 4111
+              },
+              {
+                "from_row": 4660,
+                "gap_ns": 133643000,
+                "to_row": 4661
+              },
+              {
+                "from_row": 5028,
+                "gap_ns": 132196000,
+                "to_row": 5029
+              },
+              {
+                "from_row": 5035,
+                "gap_ns": 199225000,
+                "to_row": 5036
+              },
+              {
+                "from_row": 5223,
+                "gap_ns": 132382000,
+                "to_row": 5224
+              }
+            ],
+            "max_gap_ns": 199225000,
+            "median_gap_ns": 66315000.0,
+            "observed_fps": 15.063428617607867,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 8,
+            "large_gaps": [
+              {
+                "from_row": 228,
+                "gap_ns": 132671000,
+                "to_row": 229
+              },
+              {
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+                "to_row": 733
+              },
+              {
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+                "to_row": 1355
+              },
+              {
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+                "to_row": 4111
+              },
+              {
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+                "to_row": 4661
+              },
+              {
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+              {
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+                "to_row": 5036
+              },
+              {
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+                "to_row": 5224
+              }
+            ],
+            "max_gap_ns": 199225000,
+            "median_gap_ns": 66315000.0,
+            "observed_fps": 15.063428617607867,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 8,
+            "large_gaps": [
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+                "to_row": 229
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+              {
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+              {
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+              {
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+                "to_row": 5224
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+            ],
+            "max_gap_ns": 199225000,
+            "median_gap_ns": 66315000.0,
+            "observed_fps": 15.063428617607867,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        }
+      },
+      "timestamp_gap_policy": "warn"
+    },
+    "timestamp_gap_policy": "warn",
+    "timestamp_rate_policy": "warn",
+    "within_stream_inter_frame_timestamp_validation": {
+      "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+      "policy": {
+        "fail_on_duplicate_timestamps": true,
+        "fail_on_missing_timestamps": true,
+        "fail_on_non_monotonic_timestamps": true,
+        "gap_policy": "warn",
+        "large_gap_warning_multiplier": 1.5,
+        "max_gap_fail_multiplier": 3.5,
+        "max_large_gap_count": null,
+        "max_large_gap_rate": 0.005,
+        "median_period_tolerance_ratio": 0.05,
+        "min_observed_fps_ratio": 0.98,
+        "rate_policy": "warn"
+      },
+      "scope": "within_stream_inter_frame_timestamp_validation",
+      "status": "passed_with_warnings",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 2.988374985058125,
+            "max_within_stream_inter_frame_gap_ns": 199225000,
+            "median_period_error_ratio": 0.005275004973624975,
+            "median_within_stream_inter_frame_period_ns": 66315000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.063428617607867,
+            "observed_fps_ratio": 1.004228574507191,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 8,
+              "large_gaps": [
+                {
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+                  "to_row": 229
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+              "median_gap_ns": 66315000.0,
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+              "warnings": [
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+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 5618,
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+            "within_stream_large_gap_rate": 0.001423994304022784
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
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+          "recorder_timestamp_summary": {
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+            "large_gap_count": 8,
+            "large_gaps": [
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+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
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+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 2.988374985058125,
+            "max_within_stream_inter_frame_gap_ns": 199225000,
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+            "median_within_stream_inter_frame_period_ns": 66315000.0,
+            "nominal_frame_period_ns": 66666667,
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+            "observed_fps_ratio": 1.004228574507191,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 8,
+              "large_gaps": [
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+          "recorder_timestamp_summary": {
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+                "to_row": 5224
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+            "max_gap_ns": 199225000,
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+            "observed_fps": 15.063428617607867,
+            "warnings": [
+              "large_timestamp_gap"
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+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
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+            "rate_policy": "warn",
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+              "large_timestamp_gap"
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+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        }
+      }
+    }
+  },
+  "validation_scope": "manifest_conversion_plan",
+  "within_stream_inter_frame_timestamp_validation": {
+    "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+    "policy": {
+      "fail_on_duplicate_timestamps": true,
+      "fail_on_missing_timestamps": true,
+      "fail_on_non_monotonic_timestamps": true,
+      "gap_policy": "warn",
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+      "max_gap_fail_multiplier": 3.5,
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+      "max_large_gap_rate": 0.005,
+      "median_period_tolerance_ratio": 0.05,
+      "min_observed_fps_ratio": 0.98,
+      "rate_policy": "warn"
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+    "scope": "within_stream_inter_frame_timestamp_validation",
+    "status": "passed_with_warnings",
+    "streams": {
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+        "decision": "passed_with_warnings",
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+          "max_within_stream_inter_frame_gap_multiplier": 2.988374985058125,
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+          "median_within_stream_inter_frame_period_ns": 66315000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.063428617607867,
+          "observed_fps_ratio": 1.004228574507191,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
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+            "large_gap_count": 8,
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+                "gap_ns": 132671000,
+                "to_row": 229
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+          "large_gap_count": 8,
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+            {
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+            {
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+            "large_timestamp_gap"
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+        },
+        "warnings": [
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+        "decision": "passed_with_warnings",
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+        "recorder_timestamp_summary": {
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+          "large_gap_count": 8,
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+        },
+        "warnings": [
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+      },
+      "zed_12933256_right_rgb": {
+        "decision": "passed_with_warnings",
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+        "warnings": [
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+      }
+    }
+  }
+}

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/conversion_timing.json

@@ -0,0 +1,127 @@
+{
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+    "zed_frame_loop.ZED-M_SN12933256.svo2": 1226.325207216003,
+    "zed_intrinsics_probe.ZED-M_SN12933256.svo2": 20.134496477003268,
+    "zed_sink_close.ZED-M_SN12933256.svo2": 59.58848952099652
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+  "metadata": {
+    "auto_lossless_probe_cache_hits": 0,
+    "auto_lossless_probe_cache_misses": 2,
+    "auto_lossless_probe_cache_path": "/home/shaunak/.cache/belt_perception/auto_lossless_probe_cache.json",
+    "auto_lossless_probe_cache_policy": "auto",
+    "auto_lossless_probe_cache_refreshes": 0,
+    "grouped_zed_container_provenance_json": "{\"/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/ZED-M_SN12933256.svo2\": {\"export_mode\": \"one_pass\", \"first_native_container_frame_index\": 1, \"grouped_zed_export\": true, \"native_index_grab_plan_seek_count\": 1, \"probe_depth_mode_none\": \"NONE\", \"probe_depth_mode_target\": \"NEURAL_PLUS\", \"recording_path\": \"/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/ZED-M_SN12933256.svo2\", \"rgb_equivalence_left_equal\": true, \"rgb_equivalence_passed\": true, \"rgb_equivalence_right_equal\": true, \"stream_ids\": [\"zed_12933256_left_rgb\", \"zed_12933256_right_rgb\", \"zed_12933256_depth_zed_sdk_neural_plus\"]}}",
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+    "recording_pairing_validation_skipped_reason": "no_realsense_streams",
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+    "source_hash_cache_misses": 1,
+    "source_hash_cache_path": "/home/shaunak/.cache/belt_perception/source_hash_cache.json",
+    "source_hash_cache_policy": "auto",
+    "source_hash_worker_count": 1,
+    "zed_svo_probe_cache_equivalence_hits": 0,
+    "zed_svo_probe_cache_equivalence_misses": 1,
+    "zed_svo_probe_cache_intrinsics_hits": 0,
+    "zed_svo_probe_cache_intrinsics_misses": 1,
+    "zed_svo_probe_cache_path": "/home/shaunak/.cache/belt_perception/zed_svo_probe_cache.json",
+    "zed_svo_probe_cache_policy": "auto"
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+}

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/discovery_report.json

@@ -0,0 +1,805 @@
+{
+  "clock_policy": {
+    "auxiliary_timestamps": "ZED/RealSense/device/robot timestamps are preserved but not assumed to share a domain",
+    "default_sync_time": "streams/<stream_id>/timestamps.parquet for manifest recordings",
+    "old_robot_state_domain": "lcm_utime_or_robot_clock"
+  },
+  "known_recording_code_findings": {
+    "new_record_multi_camera": [
+      "ZED sidecar device_timestamp_ns comes from sl.TIME_REFERENCE.IMAGE after grab().",
+      "RealSense sidecar device_timestamp_ns comes from color_frame.get_timestamp() ms converted to ns.",
+      "host_timestamp_ns is time.time_ns() sampled immediately after recorder.record_frame()."
+    ],
+    "old_zed_robot_state_recording": [
+      "PandaStatus and PandaGripperStatus are stored as ZED SVOData custom keys.",
+      "SVOData timestamp is set from payload timestamp_us via set_microseconds().",
+      "No independent host receive timestamp is present for old embedded robot states."
+    ]
+  },
+  "legacy_timestamp_sidecars": {
+    "authoritative": false,
+    "files": [
+      "timestamps_zed_SN12933256.csv"
+    ],
+    "semantics": "compatibility/debug artifacts only; manifest Parquet sidecars are authoritative"
+  },
+  "recording_dir": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798",
+  "recording_manifest": {
+    "authoritative_timestamp_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "manifest_timestamp_sidecars": [
+      {
+        "authoritative": true,
+        "path": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/streams/zed_12933256_left_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+        "stream_id": "zed_12933256_left_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/streams/zed_12933256_right_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+        "stream_id": "zed_12933256_right_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "stream_id": "zed_12933256_depth_zed_sdk_neural_plus"
+      }
+    ],
+    "path": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/recording_manifest.json",
+    "present": true,
+    "stream_count": 3
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+  "recording_metadata": {
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+      "reason": "calibration_run_dir was not provided"
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+        "camera_type": "zed",
+        "close_warning_messages": [],
+        "read_thread_alive_after_stop": false,
+        "read_thread_alive_before_close": false,
+        "recording_enabled_after_disable": false,
+        "recording_enabled_before_close": true,
+        "recording_stop_reason": "signal_sigint",
+        "sdk_close_attempted": true,
+        "sdk_close_exception": null,
+        "sdk_close_retry_count": 0,
+        "sdk_is_opened_after_close": false,
+        "sdk_is_opened_before_close": true,
+        "serial_number": "12933256"
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+      "errors": [],
+      "established_before_warmup": true,
+      "mode": "native_auto_defaults",
+      "per_camera": {
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+          "auto_white_balance_enabled": true,
+          "camera_type": "zed",
+          "controls": {
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+              "before": 1,
+              "status": "enabled"
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+            "BRIGHTNESS": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
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+            "CONTRAST": {
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+              "before": 4,
+              "status": "reset_to_sdk_default"
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+            "EXPOSURE": {
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+              "before": 91,
+              "status": "reset_to_sdk_default"
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+            "GAIN": {
+              "after": 15,
+              "before": 15,
+              "status": "reset_to_sdk_default"
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+            "GAMMA": {
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+              "before": 5,
+              "status": "reset_to_sdk_default"
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+            "HUE": {
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+              "before": 0,
+              "status": "reset_to_sdk_default"
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+            "SATURATION": {
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+              "before": 4,
+              "status": "reset_to_sdk_default"
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+            "SHARPNESS": {
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+              "before": 3,
+              "status": "reset_to_sdk_default"
+            },
+            "WHITEBALANCE_AUTO": {
+              "after": 1,
+              "before": 1,
+              "status": "enabled"
+            },
+            "WHITEBALANCE_TEMPERATURE": {
+              "after": 4700,
+              "before": 4700,
+              "status": "reset_to_sdk_default"
+            }
+          },
+          "errors": [],
+          "initial_auto_exposure_gain": true,
+          "initial_auto_white_balance": true,
+          "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+          "status": "established",
+          "unsupported_controls": []
+        }
+      },
+      "policy_replay": false,
+      "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+      "status": "established",
+      "unmanaged_cameras": []
+    },
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "cameras": [
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+          "actual_fps_source": "camera_information.camera_configuration.fps",
+          "depth_mode": "NEURAL_PLUS",
+          "fps": 15.0,
+          "image_format": "rgb8",
+          "requested_fps": 15.0,
+          "resolution": [
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+            2208
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+          "stream_profile_name": "HD2K",
+          "svo_compression_mode": "H265_LOSSLESS",
+          "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+        },
+        "camera_metadata": {
+          "camera_id": "right-of-ur10",
+          "camera_type": "zed",
+          "capabilities": [
+            "aligned_depth_to_color",
+            "right_color",
+            "raw_depth",
+            "stereo_color",
+            "color",
+            "depth"
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+          "color_T_depth": null,
+          "color_T_ir_left": null,
+          "color_T_ir_right": null,
+          "color_camera_frame": null,
+          "color_intrinsics": [
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+              1172.2919921875
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+          "depth_T_color": null,
+          "depth_camera_frame": "zed_12933256_left_rgb_camera",
+          "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+          "depth_intrinsics": [
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+              1172.2919921875
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+            [
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+              1461.6097412109375,
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+              0.0,
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+          "depth_scale_m": null,
+          "fps": 15.0,
+          "ir_left_T_color": null,
+          "ir_left_camera_frame": null,
+          "ir_right_T_color": null,
+          "ir_right_camera_frame": null,
+          "left_camera_frame": "zed_12933256_left_rgb_camera",
+          "left_rgb_camera_T_right_rgb_camera": [
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+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
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+            [
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+              1.0,
+              0.0,
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+            [
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+              0.0,
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+            "aligned_depth_target": "left_color",
+            "color_distortion_coefficients": null,
+            "color_distortion_model": null,
+            "color_image_geometry": "zed_rectified_rgb",
+            "color_is_rectified": true,
+            "color_projection_model_used": "rectified_pinhole",
+            "color_rectification_source": "zed_sdk_rectified_view",
+            "depth_units": "metres",
+            "input_type": "INPUT_TYPE.USB",
+            "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
+            "offline_recording": false,
+            "usb": {
+              "bus": "8",
+              "input_type_raw": "INPUT_TYPE.USB",
+              "is_usb3": true,
+              "note": null,
+              "pci_controller_path": "/sys/devices/pci0000:00",
+              "port_path": "1",
+              "product": "ZED-M",
+              "speed_mbps": 5000.0,
+              "sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1",
+              "usb_type_descriptor": "3.00",
+              "usb_validation_source": "linux_sysfs_video_device",
+              "video_device_path": "/dev/video2"
+            },
+            "usb_product": "ZED-M",
+            "usb_speed_mbps": 5000.0,
+            "usb_type_descriptor": "3.00"
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+          "model": "ZED-M",
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+          "right_camera_frame": "zed_12933256_right_rgb_camera",
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+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b"
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+        "camera_type": "zed",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "dropped_non_monotonic_timestamp_count": 0,
+        "dropped_stale_preofficial_timestamp_count": 0,
+        "first_official_native_frame_index": 1,
+        "frame_count": 5619,
+        "name": "right-of-ur10",
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
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+        "recording_path": "ZED-M_SN12933256.svo2",
+        "serial_number": "12933256",
+        "stream_summaries": {
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+            "median_gap_ns": 66315000.0,
+            "modality": "right_rgb",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 15.063428617607867,
+            "official_frame_count": 5619,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 5619,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_12933256_right_rgb",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1793303977752273038,
+            "timestamp_min_ns": 1793303604796013038,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "streams": [
+          {
+            "expected_fps": 15.0,
+            "modality": "left_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_left_rgb"
+          },
+          {
+            "expected_fps": 15.0,
+            "modality": "right_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_right_rgb"
+          },
+          {
+            "expected_fps": 15.0,
+            "modality": "depth",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_depth_zed_sdk_neural_plus"
+          }
+        ],
+        "timestamp_path": "timestamps_zed_SN12933256.csv"
+      }
+    ],
+    "config": {
+      "alignment_warning_frame_periods": 0.5,
+      "allow_extra_calibrated_cameras": true,
+      "calibration_pose_source": "phase_05_final",
+      "calibration_run_dir": null,
+      "camera_rig_profile_name": "single-zed-right-of-ur10",
+      "capture": {
+        "overrides_by_serial": {},
+        "realsense": {
+          "duplicate_frame_policy": null,
+          "duplicate_max_count": null,
+          "duplicate_timeout_s": null,
+          "rectify_color": null
+        },
+        "shared": {
+          "fps": null,
+          "image_format": null,
+          "require_stereo_frames": null,
+          "resolution_hw": null,
+          "retain_gpu_images": null,
+          "return_pointmap_instead_of_depth": null,
+          "warmup_frames": null
+        },
+        "zed": {
+          "allow_depth_mode_fallback": null,
+          "coordinate_units": null,
+          "depth_maximum_distance_m": null,
+          "depth_minimum_distance_m": null,
+          "depth_mode_name": null,
+          "depth_stabilization": null,
+          "open_timeout_sec": null
+        }
+      },
+      "capture_profile_name": "zed-hd2k15",
+      "copy_calibration_depth_snapshots": false,
+      "copy_calibration_rerun_rrd": false,
+      "copy_full_calibration_run": false,
+      "depth_mode": "neural_plus",
+      "duration_sec": null,
+      "fail_on_timestamp_gaps": false,
+      "max_frames": null,
+      "max_frames_no_progress_timeout_sec": 10.0,
+      "native_recording_starts_after_warmup": true,
+      "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+      "no_frame_poll_sleep_sec": 0.001,
+      "output_datetime": "20261029_155318_759798",
+      "pairing_validation_failure_policy": "fail",
+      "post_native_priming_max_discard_frames": 30,
+      "post_native_priming_timeout_sec": 5.0,
+      "post_record_quality_policy": "warn",
+      "post_record_validate_pairing": true,
+      "realsense_color_format": null,
+      "realsense_fps": null,
+      "realsense_height": null,
+      "realsense_official_start_consecutive_framesets": 2,
+      "realsense_streams": "color,depth",
+      "realsense_width": null,
+      "recording_profile": "dynamic-validation-safe",
+      "recording_stop_policy": "duration_or_all_max_frames",
+      "require_calibration": false,
+      "stream_settle_sec": 0.0,
+      "stream_warmup_frames": 15,
+      "stream_warmup_no_frame_timeout_sec": 10.0,
+      "timestamp_gap_warning_frame_periods": 1.5,
+      "zed_fps": null,
+      "zed_resolution": null,
+      "zed_svo_compression_mode": "h265_lossless"
+    },
+    "duration_sec": null,
+    "max_frames": null,
+    "recording_active_elapsed_sec": 373.954034838,
+    "recording_attempt_started_at_unix_time_ns": 1793303598759794516,
+    "recording_datetime": "20261029_155318_759798",
+    "recording_elapsed_sec": 380.02156496047974,
+    "recording_manifest_path": "recording_manifest.json",
+    "recording_metadata_schema_version": 1,
+    "recording_started_at_unix_time_ns": 1793303604827313792,
+    "recording_status": "stopped",
+    "recording_stop_policy": "duration_or_all_max_frames",
+    "recording_stop_reason": "signal_sigint",
+    "recording_timing": {
+      "attempt_elapsed_sec": 380.0215620994568,
+      "official_active_elapsed_sec": 373.954034838,
+      "official_started_at_unix_time_ns": 1793303604827313792,
+      "official_stopped_at_unix_time_ns": 1793303978781348630,
+      "preroll_elapsed_sec": 0.9869257169993944,
+      "recording_started_at_unix_time_ns": 1793303604827313792,
+      "stream_preroll": {
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_recording_starts_after_warmup": true,
+        "per_camera_preroll_frame_count": {
+          "12933256": 15
+        },
+        "post_native_priming": {
+          "per_camera_discarded_frame_count": {
+            "12933256": 0
+          },
+          "per_camera_first_official_native_frame_index": {
+            "12933256": 1
+          },
+          "per_camera_post_native_priming_frame_count": {
+            "12933256": 1
+          },
+          "post_native_priming_applied": true,
+          "post_native_priming_elapsed_sec": 0.0468708999997034
+        },
+        "preroll_elapsed_sec": 0.9869257169993944,
+        "stream_settle_sec": 0.0,
+        "stream_warmup_frames": 15
+      },
+      "wind_down_elapsed_sec": 0.9653291260001424
+    },
+    "stream_preroll": {
+      "first_official_native_frame_index": 1,
+      "native_container_includes_post_native_priming_frames": true,
+      "native_container_includes_preroll_frames": false,
+      "native_recording_starts_after_warmup": true,
+      "per_camera_preroll_frame_count": {
+        "12933256": 15
+      },
+      "post_native_priming": {
+        "per_camera_discarded_frame_count": {
+          "12933256": 0
+        },
+        "per_camera_first_official_native_frame_index": {
+          "12933256": 1
+        },
+        "per_camera_post_native_priming_frame_count": {
+          "12933256": 1
+        },
+        "post_native_priming_applied": true,
+        "post_native_priming_elapsed_sec": 0.0468708999997034
+      },
+      "preroll_elapsed_sec": 0.9869257169993944,
+      "stream_settle_sec": 0.0,
+      "stream_warmup_frames": 15
+    },
+    "stream_settle_sec": 0.0,
+    "stream_warmup_frames": 15,
+    "timestamp_validation_policy": {
+      "alignment_warning_frame_periods": 0.5,
+      "fail_on_timestamp_gaps": false,
+      "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+      "timestamp_gap_warning_frame_periods": 1.5
+    }
+  },
+  "source_files": [
+    {
+      "name": "ZED-M_SN12933256.svo2",
+      "path": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/ZED-M_SN12933256.svo2",
+      "sha256": null,
+      "size_bytes": 14850654122,
+      "suffix": ".svo2"
+    }
+  ],
+  "timestamp_sidecars": [
+    {
+      "device_duplicate_timestamp_count": 0,
+      "device_non_monotonic_timestamp_count": 0,
+      "device_timestamp_max_ns": 1793303977752273038,
+      "device_timestamp_min_ns": 1793303604796013038,
+      "frame_index_gap_count": 0,
+      "frame_index_max": 5618,
+      "frame_index_min": 0,
+      "host_duplicate_timestamp_count": 0,
+      "host_non_monotonic_timestamp_count": 0,
+      "host_timestamp_max_ns": 1793303977845123052,
+      "host_timestamp_min_ns": 1793303604890189087,
+      "path": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/timestamps_zed_SN12933256.csv",
+      "row_count": 5619
+    }
+  ]
+}

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/discovery_report.md

@@ -0,0 +1,42 @@
+# Recording Discovery Report
+
+Recording directory: `/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798`
+
+## Clock Policy
+
+- Do not assume camera/device/robot timestamps share a clock domain.
+- Use manifest Parquet timestamp sidecars as authoritative when `recording_manifest.json` is present.
+- For explicit legacy conversion, use joined, trustworthy host timestamps as default synchronization time when available.
+- Preserve acquisition/device timestamps as auxiliary columns.
+- Mark old embedded robot states as `lcm_utime_or_robot_clock` when no host receive time exists.
+
+## Source Files
+
+- `ZED-M_SN12933256.svo2`: 14850654122 bytes
+
+## Timestamp Sources
+
+- Authoritative timestamp source: `streams/<stream_id>/timestamps.parquet`.
+- Native video/container PTS is not used for cross-stream synchronization.
+- Legacy CSV timestamp sidecars, when present, are compatibility/debug artifacts only.
+
+### Manifest Parquet Sidecars
+- `zed_12933256_left_rgb`: `streams/zed_12933256_left_rgb/timestamps.parquet`
+- `zed_12933256_right_rgb`: `streams/zed_12933256_right_rgb/timestamps.parquet`
+- `zed_12933256_depth_zed_sdk_neural_plus`: `streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet`
+
+## Legacy CSV Timestamp Sidecars
+
+- `timestamps_zed_SN12933256.csv`: rows=5619, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0
+
+## Recording Code Findings
+
+### new_record_multi_camera
+- ZED sidecar device_timestamp_ns comes from sl.TIME_REFERENCE.IMAGE after grab().
+- RealSense sidecar device_timestamp_ns comes from color_frame.get_timestamp() ms converted to ns.
+- host_timestamp_ns is time.time_ns() sampled immediately after recorder.record_frame().
+
+### old_zed_robot_state_recording
+- PandaStatus and PandaGripperStatus are stored as ZED SVOData custom keys.
+- SVOData timestamp is set from payload timestamp_us via set_microseconds().
+- No independent host receive timestamp is present for old embedded robot states.

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/grouped_zed_export_provenance.json

@@ -0,0 +1,19 @@
+{
+  "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/ZED-M_SN12933256.svo2": {
+    "export_mode": "one_pass",
+    "first_native_container_frame_index": 1,
+    "grouped_zed_export": true,
+    "native_index_grab_plan_seek_count": 1,
+    "probe_depth_mode_none": "NONE",
+    "probe_depth_mode_target": "NEURAL_PLUS",
+    "recording_path": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/ZED-M_SN12933256.svo2",
+    "rgb_equivalence_left_equal": true,
+    "rgb_equivalence_passed": true,
+    "rgb_equivalence_right_equal": true,
+    "stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb",
+      "zed_12933256_depth_zed_sdk_neural_plus"
+    ]
+  }
+}

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/realsense_bag_pairing.json

@@ -0,0 +1,19 @@
+{
+  "bag_index_artifact": null,
+  "depth_aligned_to_color_pairing_policy": null,
+  "frame_number_offset_median": null,
+  "frame_number_offset_p95": null,
+  "frame_number_offset_unit": "frames",
+  "legacy_native_index_pairing_detected_bad": false,
+  "per_stream_legacy_audit": [],
+  "raw_pairing_validation": {
+    "recording_dir": "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798",
+    "status": "skipped_no_realsense_streams"
+  },
+  "raw_pairing_validator_status": "skipped_no_realsense_streams",
+  "realsense_bag_pairing_policy": "sdk_frame_number",
+  "recording_pairing_validation_artifact": null,
+  "recording_pairing_validation_skipped_reason": "no_realsense_streams",
+  "safe_for_dynamic_multiview_tracking": false,
+  "temporal_pixel_sync_status": "not_applicable"
+}

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/recording_manifest.json

@@ -0,0 +1,555 @@
+{
+  "recording_manifest_schema_version": 1,
+  "recording_datetime": "20261029_155318_759798",
+  "recording_status": "stopped",
+  "recording_stop_reason": "signal_sigint",
+  "camera_rig_profile_name": "single-zed-right-of-ur10",
+  "capture_profile_name": "zed-hd2k15",
+  "raw_container_policy": {
+    "zed": "svo2",
+    "realsense": "bag",
+    "direct_mkv_parquet_payload_recording": false,
+    "posthoc_conversion_required_for_ml_formats": true
+  },
+  "requested_acquisition": {
+    "capture_profile_name": "zed-hd2k15",
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "enabled_rgb_stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb"
+    ],
+    "fps": null,
+    "zed_stream_profile_name": "HD2K",
+    "realsense_resolution_hw": null,
+    "realsense_image_format": null,
+    "per_camera": {
+      "zed_12933256": {
+        "camera_type": "zed",
+        "serial_number": "12933256",
+        "resolution": [
+          1242,
+          2208
+        ],
+        "fps": 15.0,
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8"
+      }
+    },
+    "zed_depth_mode": "NEURAL_PLUS",
+    "realsense_streams": [
+      "color",
+      "depth"
+    ],
+    "zed_svo_compression_mode": "H265_LOSSLESS"
+  },
+  "actual_acquisition": {
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "enabled_rgb_stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb"
+    ],
+    "per_camera": {
+      "zed_12933256": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters",
+        "camera_type": "zed",
+        "serial_number": "12933256",
+        "camera_name": "right-of-ur10"
+      }
+    }
+  },
+  "recording_profile": "dynamic-validation-safe",
+  "realsense_pairing_audit": {
+    "post_record_validate_pairing": true,
+    "pairing_validation_failure_policy": "fail",
+    "realsense_color_format": null
+  },
+  "timestamp_alignment_policy": {
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false,
+    "nominal_frame_period_ns": 66666667,
+    "default_nearest_neighbor_tolerance": "one nominal frame period per stream",
+    "strict_alignment_warning": "half a nominal frame period per stream",
+    "gap_warning": "per-stream timestamp gaps greater than timestamp_gap_warning_frame_periods"
+  },
+  "calibration": {
+    "packaged": false,
+    "reason": "calibration_run_dir was not provided"
+  },
+  "camera_image_controls": {
+    "mode": "native_auto_defaults",
+    "status": "established",
+    "policy_replay": false,
+    "established_before_warmup": true,
+    "auto_controls_frozen_during_recording": false,
+    "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+    "unmanaged_cameras": [],
+    "per_camera": {
+      "12933256": {
+        "camera_type": "zed",
+        "status": "established",
+        "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+        "controls": {
+          "BRIGHTNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "CONTRAST": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "HUE": {
+            "status": "reset_to_sdk_default",
+            "before": 0,
+            "after": 0
+          },
+          "SATURATION": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "SHARPNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 3,
+            "after": 3
+          },
+          "GAMMA": {
+            "status": "reset_to_sdk_default",
+            "before": 5,
+            "after": 5
+          },
+          "EXPOSURE": {
+            "status": "reset_to_sdk_default",
+            "before": 91,
+            "after": 91
+          },
+          "GAIN": {
+            "status": "reset_to_sdk_default",
+            "before": 15,
+            "after": 15
+          },
+          "WHITEBALANCE_TEMPERATURE": {
+            "status": "reset_to_sdk_default",
+            "before": 4700,
+            "after": 4700
+          },
+          "AEC_AGC": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          },
+          "WHITEBALANCE_AUTO": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          }
+        },
+        "unsupported_controls": [],
+        "initial_auto_exposure_gain": true,
+        "initial_auto_white_balance": true,
+        "auto_exposure_gain_enabled": true,
+        "auto_white_balance_enabled": true,
+        "errors": []
+      }
+    },
+    "errors": []
+  },
+  "streams": [
+    {
+      "stream_id": "zed_12933256_left_rgb",
+      "modality": "left_rgb",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_left_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_left_rgb",
+        "modality": "left_rgb",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 5619,
+        "expected_fps": 15.0,
+        "observed_fps": 15.063428617607867,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1793303604796013038,
+        "timestamp_max_ns": 1793303977752273038,
+        "median_gap_ns": 66315000.0,
+        "max_gap_ns": 199225000,
+        "large_gap_count": 8,
+        "large_gaps": [
+          {
+            "from_row": 228,
+            "to_row": 229,
+            "gap_ns": 132671000
+          },
+          {
+            "from_row": 732,
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+          },
+          {
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+          },
+          {
+            "from_row": 4660,
+            "to_row": 4661,
+            "gap_ns": 133643000
+          },
+          {
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+            "to_row": 5029,
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+          },
+          {
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+            "gap_ns": 199225000
+          },
+          {
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+            "to_row": 5224,
+            "gap_ns": 132382000
+          }
+        ],
+        "first_inter_frame_gap_ns": 66597000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 5619,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1793303604890189087,
+        "host_timestamp_max_ns": 1793303977845123052,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": [
+          "large_timestamp_gap"
+        ]
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 5619,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    },
+    {
+      "stream_id": "zed_12933256_right_rgb",
+      "modality": "right_rgb",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_right_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_right_rgb",
+        "modality": "right_rgb",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 5619,
+        "expected_fps": 15.0,
+        "observed_fps": 15.063428617607867,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1793303604796013038,
+        "timestamp_max_ns": 1793303977752273038,
+        "median_gap_ns": 66315000.0,
+        "max_gap_ns": 199225000,
+        "large_gap_count": 8,
+        "large_gaps": [
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+            "to_row": 229,
+            "gap_ns": 132671000
+          },
+          {
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+            "gap_ns": 132662000
+          },
+          {
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+            "to_row": 1355,
+            "gap_ns": 133358000
+          },
+          {
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+            "to_row": 4111,
+            "gap_ns": 132627000
+          },
+          {
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+            "to_row": 4661,
+            "gap_ns": 133643000
+          },
+          {
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+            "gap_ns": 132196000
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+          {
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+          },
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+            "to_row": 5224,
+            "gap_ns": 132382000
+          }
+        ],
+        "first_inter_frame_gap_ns": 66597000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 5619,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1793303604890189087,
+        "host_timestamp_max_ns": 1793303977845123052,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": [
+          "large_timestamp_gap"
+        ]
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 5619,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    },
+    {
+      "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+      "modality": "depth",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+        "modality": "depth",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 5619,
+        "expected_fps": 15.0,
+        "observed_fps": 15.063428617607867,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1793303604796013038,
+        "timestamp_max_ns": 1793303977752273038,
+        "median_gap_ns": 66315000.0,
+        "max_gap_ns": 199225000,
+        "large_gap_count": 8,
+        "large_gaps": [
+          {
+            "from_row": 228,
+            "to_row": 229,
+            "gap_ns": 132671000
+          },
+          {
+            "from_row": 732,
+            "to_row": 733,
+            "gap_ns": 132662000
+          },
+          {
+            "from_row": 1354,
+            "to_row": 1355,
+            "gap_ns": 133358000
+          },
+          {
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+            "to_row": 4111,
+            "gap_ns": 132627000
+          },
+          {
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+            "to_row": 4661,
+            "gap_ns": 133643000
+          },
+          {
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+            "to_row": 5029,
+            "gap_ns": 132196000
+          },
+          {
+            "from_row": 5035,
+            "to_row": 5036,
+            "gap_ns": 199225000
+          },
+          {
+            "from_row": 5223,
+            "to_row": 5224,
+            "gap_ns": 132382000
+          }
+        ],
+        "first_inter_frame_gap_ns": 66597000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 5619,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1793303604890189087,
+        "host_timestamp_max_ns": 1793303977845123052,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": [
+          "large_timestamp_gap"
+        ]
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 5619,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    }
+  ],
+  "legacy_timestamp_csvs": [
+    "timestamps_zed_SN12933256.csv"
+  ],
+  "known_converter_gaps": [
+    "Post-hoc converter currently exports RealSense color/depth from BAG; RealSense IR BAG export remains follow-up work."
+  ]
+}

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/recording_metadata.json

@@ -0,0 +1,725 @@
+{
+  "recording_metadata_schema_version": 1,
+  "recording_datetime": "20261029_155318_759798",
+  "recording_status": "stopped",
+  "recording_attempt_started_at_unix_time_ns": 1793303598759794516,
+  "recording_started_at_unix_time_ns": 1793303604827313792,
+  "camera_rig_profile_name": "single-zed-right-of-ur10",
+  "duration_sec": null,
+  "max_frames": null,
+  "stream_warmup_frames": 15,
+  "stream_settle_sec": 0.0,
+  "recording_stop_policy": "duration_or_all_max_frames",
+  "timestamp_validation_policy": {
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false
+  },
+  "recording_manifest_path": "recording_manifest.json",
+  "config": {
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "capture_profile_name": "zed-hd2k15",
+    "capture": {
+      "shared": {
+        "resolution_hw": null,
+        "fps": null,
+        "image_format": null,
+        "warmup_frames": null,
+        "retain_gpu_images": null,
+        "return_pointmap_instead_of_depth": null,
+        "require_stereo_frames": null
+      },
+      "zed": {
+        "depth_mode_name": null,
+        "allow_depth_mode_fallback": null,
+        "coordinate_units": null,
+        "depth_stabilization": null,
+        "depth_minimum_distance_m": null,
+        "depth_maximum_distance_m": null,
+        "open_timeout_sec": null
+      },
+      "realsense": {
+        "rectify_color": null,
+        "duplicate_frame_policy": null,
+        "duplicate_timeout_s": null,
+        "duplicate_max_count": null
+      },
+      "overrides_by_serial": {}
+    },
+    "output_datetime": "20261029_155318_759798",
+    "duration_sec": null,
+    "max_frames": null,
+    "zed_resolution": null,
+    "zed_fps": null,
+    "zed_svo_compression_mode": "h265_lossless",
+    "realsense_fps": null,
+    "realsense_width": null,
+    "realsense_height": null,
+    "realsense_color_format": null,
+    "realsense_streams": "color,depth",
+    "depth_mode": "neural_plus",
+    "calibration_run_dir": null,
+    "calibration_pose_source": "phase_05_final",
+    "require_calibration": false,
+    "copy_calibration_rerun_rrd": false,
+    "copy_calibration_depth_snapshots": false,
+    "copy_full_calibration_run": false,
+    "allow_extra_calibrated_cameras": true,
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false,
+    "max_frames_no_progress_timeout_sec": 10.0,
+    "no_frame_poll_sleep_sec": 0.001,
+    "stream_warmup_frames": 15,
+    "stream_settle_sec": 0.0,
+    "stream_warmup_no_frame_timeout_sec": 10.0,
+    "native_recording_starts_after_warmup": true,
+    "post_native_priming_timeout_sec": 5.0,
+    "post_native_priming_max_discard_frames": 30,
+    "realsense_official_start_consecutive_framesets": 2,
+    "recording_stop_policy": "duration_or_all_max_frames",
+    "recording_profile": "dynamic-validation-safe",
+    "post_record_validate_pairing": true,
+    "pairing_validation_failure_policy": "fail",
+    "post_record_quality_policy": "warn"
+  },
+  "calibration": {
+    "packaged": false,
+    "reason": "calibration_run_dir was not provided"
+  },
+  "cameras": [
+    {
+      "name": "right-of-ur10",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamp_path": "timestamps_zed_SN12933256.csv",
+      "frame_count": 5619,
+      "dropped_non_monotonic_timestamp_count": 0,
+      "streams": [
+        {
+          "stream_id": "zed_12933256_left_rgb",
+          "modality": "left_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        },
+        {
+          "stream_id": "zed_12933256_right_rgb",
+          "modality": "right_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        },
+        {
+          "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        }
+      ],
+      "official_frame_count": 5619,
+      "native_container_includes_preroll_frames": false,
+      "native_container_includes_post_native_priming_frames": true,
+      "preroll_frame_count": 15,
+      "post_native_priming_frame_count": 1,
+      "first_official_native_frame_index": 1,
+      "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+      "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+      "dropped_stale_preofficial_timestamp_count": 0,
+      "post_native_discarded_frame_count": 0,
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_metadata": {
+        "camera_id": "right-of-ur10",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "model": "ZED-M",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15.0,
+        "color_intrinsics": [
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+            0.0,
+            1172.2919921875
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+          [
+            0.0,
+            1461.6097412109375,
+            609.0111694335938
+          ],
+          [
+            0.0,
+            0.0,
+            1.0
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+        ],
+        "depth_intrinsics": [
+          [
+            1461.6097412109375,
+            0.0,
+            1172.2919921875
+          ],
+          [
+            0.0,
+            1461.6097412109375,
+            609.0111694335938
+          ],
+          [
+            0.0,
+            0.0,
+            1.0
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+        ],
+        "color_T_depth": null,
+        "depth_T_color": null,
+        "color_T_ir_left": null,
+        "ir_left_T_color": null,
+        "color_T_ir_right": null,
+        "ir_right_T_color": null,
+        "left_rgb_camera_T_right_rgb_camera": [
+          [
+            1.0,
+            0.0,
+            0.0,
+            0.06304030865430832
+          ],
+          [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "right_rgb_camera_T_left_rgb_camera": [
+          [
+            1.0,
+            0.0,
+            0.0,
+            -0.06304030865430832
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+          [
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+            1.0,
+            0.0,
+            0.0
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+          [
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+            0.0,
+            1.0,
+            0.0
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+          [
+            0.0,
+            0.0,
+            0.0,
+            1.0
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+        ],
+        "left_camera_frame": "zed_12933256_left_rgb_camera",
+        "right_camera_frame": "zed_12933256_right_rgb_camera",
+        "depth_camera_frame": "zed_12933256_left_rgb_camera",
+        "color_camera_frame": null,
+        "ir_left_camera_frame": null,
+        "ir_right_camera_frame": null,
+        "stereo_baseline_m": 0.06304030865430832,
+        "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+        "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+        "depth_scale_m": null,
+        "capabilities": [
+          "aligned_depth_to_color",
+          "right_color",
+          "raw_depth",
+          "stereo_color",
+          "color",
+          "depth"
+        ],
+        "metadata": {
+          "color_image_geometry": "zed_rectified_rgb",
+          "color_distortion_coefficients": null,
+          "color_distortion_model": null,
+          "color_is_rectified": true,
+          "color_projection_model_used": "rectified_pinhole",
+          "color_rectification_source": "zed_sdk_rectified_view",
+          "depth_units": "metres",
+          "aligned_depth_target": "left_color",
+          "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
+          "offline_recording": false,
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+  "recording_stop_reason": "signal_sigint"
+}

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/session.json

@@ -0,0 +1,43 @@
+{
+  "conversion_time": "2026-10-31T17:06:09.995980+00:00",
+  "converter_command": [
+    "/home/shaunak/Code/grasp/belt_perception/.venv/bin/python",
+    "-m",
+    "dataset_converter.convert_session",
+    "--recording-dir",
+    "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798",
+    "--output-root",
+    "/data/reconstruction/scans/beige_pulley/converted",
+    "--input-format",
+    "manifest",
+    "--zed-streams",
+    "all",
+    "--depth-encoder",
+    "zdepth",
+    "--calibration-source",
+    "packaged-if-present",
+    "--zdepth-over-max-behavior",
+    "clamp",
+    "--timestamp-gap-policy",
+    "warn",
+    "--timestamp-rate-policy",
+    "warn",
+    "--large-gap-fail-multiplier",
+    "3.5",
+    "--validate"
+  ],
+  "converter_git_commit": "46f912eefa2dce720b79df547085b8bbdb858ad2",
+  "dataset_format_version": "0.1.0",
+  "ffmpeg_version": "ffmpeg version 4.4.2-0ubuntu0.22.04.1 Copyright (c) 2000-2021 the FFmpeg developers",
+  "pyav_version": "17.0.1",
+  "realsense_sdk_version": "2.58.2",
+  "session_description": "",
+  "session_description_editing_note": "Edit metadata/session_description.md after conversion to update the human-readable session purpose/contents note.",
+  "session_description_path": "metadata/session_description.md",
+  "session_description_source": "editable_template",
+  "session_id": "session_20261029_155318_759798",
+  "source_file_hashes": {
+    "/data/reconstruction/scans/beige_pulley/raw/20261029_155318_759798/ZED-M_SN12933256.svo2": "686358ddafbbc958ad6505565bcdd36fee40b7f1054f67f1c3ff2a769040e0ef"
+  },
+  "zed_sdk_version": "5.5.0"
+}

scans/beige_pulley/converted/sessions/session_20261029_155318_759798/metadata/session_description.md

@@ -0,0 +1,7 @@
+# Session Description
+
+Purpose:
+
+Data / motion / observations:
+
+Notes:

scans/beige_pulley/recon/beige_pulley_v1/depth_waft_npy/depth_check.csv

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