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.gitattributes

@@ -68,3 +68,4 @@ scans/orange_pulley/raw/20261029_145757_501187/ZED-M_SN12933256.svo2 filter=lfs
 scans/metal_chain/raw/20261029_164729_124386/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text
 scans/blue_cylinder/raw/20261029_165810_867787/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text
 scans/orange_pulley_retake/raw/20261029_153214_197280/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text
+scans/black_pulley_holder/raw/20261029_170923_824462/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text

scans/black_pulley_holder/raw/20261029_170923_824462/ZED-M_SN12933256.svo2

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5277d0c51480465836aed57cd2fd93c8305e342ca7f31e7566dffc27d235865e
+size 15813208107

scans/black_pulley_holder/raw/20261029_170923_824462/recording_manifest.json

@@ -0,0 +1,495 @@
+{
+  "recording_manifest_schema_version": 1,
+  "recording_datetime": "20261029_170923_824462",
+  "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
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+          "HUE": {
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+          "SHARPNESS": {
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+            "after": 3
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+            "after": 5
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+            "after": 91
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+          "GAIN": {
+            "status": "reset_to_sdk_default",
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+            "after": -1
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+          "WHITEBALANCE_TEMPERATURE": {
+            "status": "reset_to_sdk_default",
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+            "after": 4700
+          },
+          "AEC_AGC": {
+            "status": "enabled",
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+            "after": 1
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+          "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": {
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+          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": 6054,
+        "expected_fps": 15.0,
+        "observed_fps": 15.071658953212555,
+        "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": 1793308169666395493,
+        "timestamp_max_ns": 1793308571281109493,
+        "median_gap_ns": 66354000.0,
+        "max_gap_ns": 133412000,
+        "large_gap_count": 4,
+        "large_gaps": [
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+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 6054,
+        "duplicate_timestamp_count": 0,
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+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1793308169751541181,
+        "host_timestamp_max_ns": 1793308571362849812,
+        "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": 6054,
+        "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": {
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+          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",
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+        "preroll_frame_count": 15,
+        "official_frame_count": 6054,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
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+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1793308169751541181,
+        "host_timestamp_max_ns": 1793308571362849812,
+        "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": 6054,
+        "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": [
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+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
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+          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": 6054,
+        "expected_fps": 15.0,
+        "observed_fps": 15.071658953212555,
+        "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": 1793308169666395493,
+        "timestamp_max_ns": 1793308571281109493,
+        "median_gap_ns": 66354000.0,
+        "max_gap_ns": 133412000,
+        "large_gap_count": 4,
+        "large_gaps": [
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+            "to_row": 1399,
+            "gap_ns": 132570000
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+            "to_row": 2957,
+            "gap_ns": 133412000
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+            "to_row": 3468,
+            "gap_ns": 132589000
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+        "first_inter_frame_gap_ns": 66116000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 6054,
+        "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": 1793308169751541181,
+        "host_timestamp_max_ns": 1793308571362849812,
+        "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": 6054,
+        "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/black_pulley_holder/raw/20261029_170923_824462/recording_metadata.json

@@ -0,0 +1,665 @@
+{
+  "recording_metadata_schema_version": 1,
+  "recording_datetime": "20261029_170923_824462",
+  "recording_status": "stopped",
+  "recording_attempt_started_at_unix_time_ns": 1793308163824458120,
+  "recording_started_at_unix_time_ns": 1793308169694314497,
+  "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_170923_824462",
+    "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,
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+      "per_camera_preroll_frame_count": {
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+        "per_camera_post_native_priming_frame_count": {
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+        "per_camera_first_official_native_frame_index": {
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+  },
+  "recording_stop_reason": "signal_sigint"
+}

scans/black_pulley_holder/raw/20261029_170923_824462/recording_quality_report.json

@@ -0,0 +1,199 @@
+{
+  "recording_quality_report_schema_version": 1,
+  "recording_root": "/home/shaunak/Code/grasp/belt_perception/recordings/20261029_170923_824462",
+  "generated_at_unix_time_ns": 1793308573294256400,
+  "summary": {
+    "recording_root": "/home/shaunak/Code/grasp/belt_perception/recordings/20261029_170923_824462",
+    "generated_at_unix_time_ns": 1793308573294256610,
+    "status": "clean",
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+    "cross_camera_burst_count_20ms": 0,
+    "cross_camera_burst_count_100ms": 0,
+    "notes": [],
+    "warning_thresholds": {
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+      "max_large_gap_rate": 0.005,
+      "max_gap_multiplier": 3.5,
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scans/black_pulley_holder/raw/20261029_170923_824462/streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json

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